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불확실한 시변 파라메터를 갖는 선형시스템의 고장검출 시스템 설계
류석환 대구대학교 2005 대구대학교 학술논문집 Vol.1 No.1
본 연구에서는 시변 파라메터 불확실성을 갖는 선형시스템의 고장검출 시스템 설계를 다룬다. 고장 검출 시스템은 플랜트의 입력과 출력으로부터 오차신호를 발생시키기 위하여 불확실성을 갖는 플랜트의 동적 방정식을 왼쪽 소인수 분해를 이용한다. 이 오차신호로부터 효과적으로 제어시스템의 센서나 액츄에이터의 고장을 실시간으로 검출하기 위하여 고장검출 필터를 설계한다. 본 연구에서 제시한 방법의 효용성을 보여주기 위해서 원자력 발전소의 증기발생기 수위제어시스템에 본 연구의 결과를 적용하여 컴퓨터 모의실험을 수행한다. This paper deals with a fault detection system design for linear systems with uncertain time varying parameters. In order to generate a residual signal, we use a left coprime factorization of the plant dynamic equation with uncertainties. We also design a fault detection filter to effectively detect the fault occurences of the control systems. From the filtered output of the residual signal generator, we can detect sensor or actuator faults effectively. A simulation study with nuclear steam generator level control system shows that the presented method can detect the sensor fault or actuator fault effectively.
제어 입력에 시간 지연을 갖는 선형 시스템의 견실한 H∞ 제어기 설계
류석환,김홍락 대구대학교 과학기술연구소 1997 科學技術硏究 Vol.4 No.1
In this paper, a solution of the H∞ control problem for linear uncertain systems with input time delay is presented. An H∞ norm bounded condition is obtained as a sufficient condition for linear uncertain systems with input time delay. Based upon this sufficient condition, a robust H∞ controller design method which involves the solutions of linear matrix inequalities is developed. A numerical example is solved in order to illustrate the efficacy of the suggested design method.
불확실한 파라미터와 유연한 관절을 갖는 로보트 매니퓰레이터를 위한 견실한 비선형 제어
이희영,류석환 대구대학교 과학기술연구소 1994 科學技術硏究 Vol.1 No.-
In this paper, a robust controller design problem for robot manipulators with parameter uncertainty and flexible joints is considered. The system dynamics of the robot manipulator is expressed as a nonlinear singularly perturbed system. Based on the singular perturbation theory, a robust slow control law is developed such that the control law stabilizes the slow subsystem for allowable parameter uncertainty. Based on this slow control law, a corrective control law is synthesized using the integral manifold theory. In order to demonstrate the efficacy of the proposed controller, computer simulation is performed for a robot
곽상필,최병재,류석환 대구대학교 2005 대구대학교 학술논문집 Vol.1 No.1
자율 이동 로봇의 경로계획과 주행에 관한 연구가 널리 진행되고 있다. 자율 이동 로봇은 주어진 환경에서 효율적인 주행을 하기 위하여 환경 지도를 구성하고, 이를 기반으로 목표 지점에 대한 효율적인 광역 주행 경로를 계산하게 되고, 계산된 광역 경로를 주행하여 목표 지점에 이르게 된다. 본 논문에서는 퍼지 환경 지도를 제안하고, 퍼지 환경 지도로부터 최단시간 광역 경로 계산 알고리즘을 소개하며, 주행 제어를 위한 퍼지 논리 제어기를 제안한다. There are many researches about the path planning and navigation of autonomous mobile robots. In this paper we present a fuzzy logic based environment map and navigation system. Firstly we introduce grid based method and topological method for an environment map and propose a fuzzy environment map. And then we design a fuzzy logic system for navigation of the autonomous mobile robot.
A Balanced Model Reduction for Fuzzy Systems with Time Varying Delay
Seog-Hwan Yoo,Byung-Jae Choi 한국지능시스템학회 2004 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.4 No.1
This paper deals with a balanced model reduction for T-S(Takagi-Sugeno) fuzzy systems with time varying state delay. We define a generalized controllability gramian and a generalized observability gramian for a stable T-S fuzzy delayed systems. We obtain a balanced state space realization using the generalized controllability and observability gramian and obtain a reduced model by truncating states from the balanced state space realization. We also present an upper bound of the approximation error. The generalized controllability gramian and observability gramian can be computed from solutions of linear matrix inequalities. We demonstrate the efficacy of the suggested method by illustrating a numerical example.
An H<SUB>∞</SUB> Output Feedback Control for Uncertain Singularly Perturbed T-S Fuzzy Systems
Seog-Hwan Yoo(류석환),Wu Xuedong(오설동) 한국지능시스템학회 2009 한국지능시스템학회논문지 Vol.19 No.6
This paper deals with an H∞ output feedback controller design for uncertain singularly perturbed T-S fuzzy systems. Integral quadratic constraints are used to describe various kinds of uncertainties of the plant. It is shown that the H∞ norm of the uncertain singularly perturbed fuzzy system is less than γ for a sufficiently small ε>0 if the H∞ norms of both the slow and fast subsystem are less than γ. Using this fact, we develop a linear matrix inequality based design method which is independent of the singular perturbation parameter ε. A numerical example is provided to demonstrate the efficacy of the proposed design method.
A Fault Detection System Design for Uncertain Fuzzy Systems
Yoo, Seog-Hwan,Choi, Byung-Jae Korean Institute of Intelligent Systems 2006 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.6 No.1
This paper deals with a fault detection system design for uncertain nonlinear systems modelled as T-S fuzzy systems with the integral quadratic constraints. In order to generate a residual signal, we used a left coprime factorization of the T-S fuzzy system. From the filtered signal of the residual generator, the fault occurence can be detected effectively. A simulation study with nuclear steam generator level control system shows that the suggested method can be applied to detect the fault in actual applications.