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Formation Control of Mobile Agents Based on Distributed Position Estimation
Kwang-Kyo Oh,Hyo-Sung Ahn IEEE 2013 IEEE transactions on automatic control Vol.58 No.3
<P>We propose a formation control strategy based on distributed position estimation for single-integrator modeled agents by using relative position measurements. Under the proposed strategy, the estimated and the actual formations globally exponentially converge to the actual and the desired formations, respectively, up to translation, if and only if the interaction graph for the agents has a spanning tree. A sufficient condition is provided for the case that the edge weights of the interaction graph are time-varying. Further, the proposed strategy is applied to formation control of unicycle-like agents.</P>
Formation Control of Rigid Bodies Based on Orientation Alignment and Position Estimation
Kwang-Kyo Oh,Hyo-Sung Ahn 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
We study cooperative formation control based on orientation alignment and position estimation for kinematic rigid bodies moving in two- or three-dimensional space. We assume agents sense relative positions of their neighbors with respect to their own local reference coordinates, orientations of which are not aligned to each other initially. The proposed formation control strategy consists of orientation alignment, position estimation, and position control laws. If the interaction graph is strongly connected and orientations of the agents are initially close enough, the orientations of the agents are exponentially aligned and the estimated and actual positions asymptotically converge to actual and desired positions, respectively, up to translation in a common reference coordinate.
Oh, Kwang-Kyo,Moore, Kevin L.,Ahn, Hyo-Sung IEEE 2014 IEEE transactions on automatic control Vol.59 No.8
<P>We consider two problems related to disturbance attenuation in undirected consensus networks of identical linear systems subject to exogenous disturbances: 1) network interconnection design and 2) design of distributed and decentralized controllers. We use the <TEX>$ {\cal H}_{\infty }$</TEX> norm of the transfer function from the disturbance vector to the disagreement vector of the network as the performance metric for disturbance attenuation. We show that the disturbance attenuation performance is enhanced by maximizing the second smallest eigenvalue of the graph Laplacian under a certain condition, which can be checked using a linear matrix inequality. For the case of a consensus network with fixed interconnection weights, e.g., as the result of physical constraints, we provide algorithms for the design of both decentralized and distributed controllers that ensure a prescribed disturbance attenuation performance.</P>
Graph and Controller Design for Disturbance Attenuation in Consensus Networks
Kwang-Kyo Oh,Kevin L. Moore,Hyo-Sung Ahn,Sung-Geun Song 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
Disturbance attenuation in consensus networks has been recently studied in the literature. In this paper, we provide illustrative examples of graph and controller design for disturbance attenuation in undirected consensus networks of identical linear time-invariant systems subject to exogenous disturbance. We first summarize some existing results on disturbance attenuation in such consensus networks, and then solve specific graph and controller design examples based on the results.
Formation Control and Network Localization via Orientation Alignment
Kwang-Kyo Oh,Hyo-Sung Ahn IEEE 2014 IEEE transactions on automatic control Vol.59 No.2
<P>We propose a formation control strategy based on inter-agent displacements for single-integrator modeled agents in the plane. Since the orientations of the local reference frames of the agents are not aligned with each other due to the absence of a common sense of orientation, the proposed strategy consists of an orientation alignment law and a formation control law. Under the proposed strategy, if the interaction graph is uniformly connected and all the initial orientation angles belong to an interval with length less than π, the orientations are exponentially aligned and the formation exponentially converges to the desired formation. We also show that the proposed strategy can be utilized for network localization as a dual problem.</P>
Oh Kwang-Kyo,Seo Seung-Mi,Jin Hyunsuk,Kim Bo-Eun,Husna,Park Dong Suk 한국미생물·생명공학회 2023 한국미생물·생명공학회지 Vol.51 No.4
Staphylococcus aureus is a ubiquitous pathogen associated with both human and animal diseases. In this study, we present the complete genome sequence of SA73-2, which was isolated from lettuce at an agricultural farm in South Korea. The assembled genome consists of a 2,750,304-bp circular chromosome and a 24,654-bp plasmid. This strain belongs to sequence type 188 (ST188), with spa type 189, and carries the β-lactamase gene (blaZ) on the plasmid.