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무선 네트워크 기반에서 서비스로봇의 이동 특성을 위한 통신거리 성능평가 방법
민순호(Sun-Ho Min),마용기(Yong-Ki Ma),서창호(Chang-Ho Seo) 한국정보기술학회 2012 한국정보기술학회논문지 Vol.10 No.5
This paper proposes a communication distance performance evaluation method for mobility of service robots equipped with a Wi-Fi module. Service robots have function of mobile communication system according to classified services and utilize a (preferred) communication method, wireless lan(IEEE802.11a/b/g/n) communication method of ISM band(2.4㎓ and 5.8㎓). For evaluating degradation performance of wireless data for the service robot’s mobility. We measured and presented reference vectors obtained by utilizing a distance attenuation correlation method in the real world environment. To evaluate performance of the proposed method, path loss of reference vectors was assigned to the Azimuth 301W and then transmission rate and the transmit throughput of the test sample were measured by the Chariot. The proposed measurement method is necessary for securing wireless LAN communication distance for mobility of mobile smart device and service robots. In addition, if the proposed measurement method os adopted, It would be expected that robot manufacturers and mobile smart device vendors would utilize the method as an effective wireless LAN mobility communication distance performance evaluation method.
Venkatesan Nithya,Rathinasamy Sakthivel,Faris Alzahrani,마용기 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.11
This paper investigates the problem of robust decentralized fault-tolerant resilient control for fractionalorder large-scale interconnected uncertain system, and the problem considered here is subject to mixed H∞ and passivity performance constraint, external disturbances, controller perturbations and control input saturation. Based on the Lyapunov approach, the sufficient conditions are derived in terms of linear matrix inequalities to ensure the asymptotic stabilization of the fractional-order large-scale system with a prespecified mixed H∞ and passivity performance index. The main objective of this work is to design a robust decentralized fault-tolerant resilient controller which compensates both actuator fault and input saturation in its design for obtaining the required result. Finally, a numerical example is included to illustrate the effectiveness of the designed control law. The simulation results reveal that our proposed controller not only can effectively deal with actuator faults, but also has very good robustness for input saturation and external disturbances.