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유성진,박진배,Yoo Sung-Jin,Park Jin-Bae Institute of Control 2006 제어·로봇·시스템학회 논문지 Vol.12 No.3
This paper presents the robust control method using a self recurrent wavelet neural network (SRWNN) via adaptive backstepping design technique for stable walking of biped robots with unknown model uncertainties. The SRWNN, which has the properties such as fast convergence and simple structure, is used as the uncertainty observer of the biped robots. The adaptation laws for weights of the SRWNN and reconstruction error compensator are induced from the Lyapunov stability theorem, which are used for on-line controlling biped robots. Computer simulations of a five-link biped robot with unknown model uncertainties verify the validity of the proposed control system.
Intelligent Sliding Mode Control for Robots Systems with Model Uncertainties
유성진,최윤호,박진배,Yoo, Sung-Jin,Choi, Yoon-Ho,Park, Jin-Bae Institute of Control 2008 제어·로봇·시스템학회 논문지 Vol.14 No.10
This paper proposes an intelligent sliding mode control method for robotic systems with the unknown bound of model uncertainties. In our control structure, the unknown bound of model uncertainties is used as the gain of the sliding controller. Then, we employ the function approximation technique to estimate the unknown nonlinear function including the width of boundary layer and the uncertainty bound of robotic systems. The adaptation laws for all parameters of the self-recurrent wavelet neural network and those for the reconstruction error compensator are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with model uncertainties and external disturbances. Accordingly, the proposed method can not only overcome the chattering phenomenon in the control effort but also have the robustness regardless of model uncertainties and external disturbances. Finally, simulation results for the five-link biped robot are included to illustrate the effectiveness of the proposed method.
A Study on Simple Adaptive Control of Flexible-Joint Robots Considering Motor Dynamics
유성진,최윤호,박진배,Yoo, Sung-Jin,Choi, Yoon-Ho,Park, Jin-Bae Institute of Control 2008 제어·로봇·시스템학회 논문지 Vol.14 No.11
Since the flexible joint robots with motor dynamics are represented by the fifth-order nonlinear sγstem, it is difficult and complex to design the controller for electrically driven flexible-joint (EDFJ) robots. In this paper, we propose a simple adaptive control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. For the simple control design, the dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. It is proved that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.
비선형 비행 시스템을 위한 H<sub>∞</sub> 접근법 기반 적응 신경망 동적 표면 제어
유성진,최윤호,Yoo, Sung-Jin,Choi, Yoon-Ho 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.3
In this paper, we propose an adaptive neural dynamic surface control (DSC) approach with $H_{\infty}$ tracking performance for full dynamics of nonlinear flight systems. It is assumed that the model uncertainties such as structured and unstrutured uncertainties, and external disturbances influence the nonlinear aircraft model. In our control system, self recurrent wavelet neural networks (SRWNNs) are used to compensate the model uncertainties of nonlinear flight systems, and an adaptive DSC technique is extended for the disturbance attenuation of nonlinear flight systems. All weights of SRWNNs are trained on-line by the smooth projection algorithm. From Lyapunov stability theorem, it is shown that $H_{\infty}$ performance nom external disturbances can be obtained. Finally, we present the simulation results for a nonlinear six-degree-of-freedom F-16 aircraft model to confirm the effectiveness of the proposed control system.
학술 7 특별구두세션 : F1. 학술세션 서비스산업의 QM ; 한국 대학의 경영 효율성 평가에 관한 연구
유성진 ( Sung Jin Yoo ),김용희 ( Yong Hee Kim ),김주훈 ( Joo Hoon Kim ),최정일 ( Jeong Il Choi ) 한국품질경영학회 2014 한국품질경영학회 학술대회 Vol.2014 No.2
Purpose : The purpose of this study was to evaluate administrative efficiency of the Korean University and to identify the factors which may effect on the efficiency of the universities. In addition, last purpose of this study was to compare correlation among administrative, research and education model. Methods : The collected data through Higher Education in Korea were analysed using DEA(Data Envelopment Analysis). Furthermore, in order to provide the better accurate results by removing the bias of the results, this paper implements Bootstrap DEA. It also analyzed the causes of efficiency by Tobit Regression after setting the dependent variable as a proposed efficiency score and compared correlation analysis results between other models. Results : The results of this study are as follows; First, the Korean Universities showed low administrative efficiencies. Second, efficiency of national universities are higher than it of private universities. Finally, the administrative and research·education model have statistically significant correlation. However, usually many Korean universities focus their resources on education performance such as employment and rates to attract new students than research performances. Conclusion : Approximately 70% of the Korean universities needs to improve their administrative efficien-cies and to pay attention their poor services, low-level performances. Although given the results of corre-lation, administrative efficiency positive effects on research·education efficiencies of universities, a lot of Korean Universities concentrate their resources and competencies to educational performances than re-search performances. In order to improve level of universities and to develop country, universities should be more focused on research performances. This study claims justifications and imperative needs that we should research on the administrative efficiency of universities.
의회정치와 신뢰 ; 국회의 사회통합기능과 국민의 신뢰: 국회에 대한 기대와 현실의 괴리
유성진 ( Sung Jin Yoo ) 한국의회발전연구회 2009 의정연구 Vol.27 No.-
한국 국회에 대한 낮은 국민신뢰도는 대화와 타협을 중시하는 의회의 구조적 특성에 기인한 독특한 의사결정과정에 일정부분 기인하고 있다는 점은 부인하기 어렵다. 그러나 이보다 더 중요한 요인은 한국의 유권자들이 전반적인 정치상황에 대해 부정적인 인식을 갖고 있고, 높은 정치적 효능감과 정치적 관심에 따른 기대수준을 한국의 국회가 제대로 충족시키지 못하고 있다는 점이다. 특히, 다른 민주주의 국가들과 비교해서 한국 유권자들이 보이는 높은 정치적 효능감과 정치적 관심은 의회와 민주주의에 대해 매우 긍정적인 평가로 연결되며, 이는 현실 정치체제에 대한 높은 기대치로 이어지고 있다. 문제는 높은 정치적 기대치가 현실의 상황에서 충족되지 못할 때 역시 높은 실망감으로 이어지기 쉽다는 점이며, 한국 국회에서 빈번히 관찰되는 파행적인 모습들이 국민들의 국회에 대한 실망감을 낳게 하는 요인이 되고 국회에 대한 낮은 국민신뢰도도 이의 연장선상에서 이해될 수 있다. Public disapproval of National Assembly is resulted not only from the structural peculiarity of its decision-making process, but from the gap between public expectation of the National Assembly and its performance. While Korean electorate, being interested in politics with relatively high level of political efficacy, hold higher expectation from politics, the National Assembly fails to satisfy public expectation. In particular, irresponsible behaviors of representatives and the crippled operation of the National assembly are responsible for the low level of public trust to it. Institutional reform and individual efforts of representatives are necessary to promote public trust toward the National Assembly.