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Reduced-order Consensus Controllers for Output-coupled SISO Linear Systems
백주훈,서진헌,심형보 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.6
In this paper, we continue the study of the consensus problem for multi-agent linear dynamic systems. All the agents have identical linear dynamics which can be of any order, and only the output information of each agents is delivered throughout the communication network. Under these settings, we show that the first-order and the second-order consensus problems can be solved by a first-order and a second-order dynamic filter, respectively. This holds even for high order dynamics, and therefore, the high order system does not have to use a high order consensus controller.
백주훈,김진오,한정혜 한국정보교육학회 2011 정보교육학회논문지 Vol.15 No.1
국내외적으로 STEM교육과 창의성 신장에 관심이 높아짐에 따라 로봇교육이 주목받고 있으며, 우리나라는 최근 초등학교 방과 후 교실, 로봇경진대회, 영재교육 등을 중심으로 매우 활발하게 이루어지고 있다. 이에 따라 로봇에 대한 전문지식을 객관적으로 평가하기 위한 기준을 제시하고자 로봇기술자격시험이 개발되어, 초등학생에서 일반인가지 그 응시규모가 해마다 늘어 국가공인자격증으로서의 준비를 하고 있다. 그러나 방과후학교 로봇교실이 활성화인데 반해, 아직 로봇기술자격시험에 대한 초중등교사에 대한 인식은 매우 부족한 상태이다. 따라서 본 연구에서는 로봇기술자격시험의 추진배경 및 검정 기준, 자격증 운영 조직, 내용 및 출제 방향, 급수별 검정 내용, 응시자 현황분석 및 요구를 조사하였다. 로봇기술자격증의 현황을 살펴본 바, 문제의 난이도 및 측정 내용에서 개선 요구사항이 많은 것으로 나타나 학생들의 수준에 맞는 적절한 교재와 학생들의 다양한 로봇기술을 측정할 수 있는 다양한 내용이 뒷받침이 필요하며, 방과 후 교실과 연계하여 자격증 시험을 확대하는 등의 향후 로봇교육의 객관적 인지적 평가기준으로서 자리매김하기 위한 제언을 제시하였다. Recently, STEM education and improvement in creativity took a lot of attention in local and foreign educational programs, and the robot education is regarded as one of the answers which can achieve the objectives. The robot education is quite active locally in various ways including robot classes for after school program in elementary schools, a number of robot competitions, and education for the gifted. Under these circumstances, the qualification test for robot technology is developed to provide a standard for evaluating professional knowledge on robotics and is currently under consideration to be one of the government-approved qualification tests. However, compared to the robot classes for after school program, this test is not well recognized by most teachers in elementary and middle schools. This paper addresses and analyzes the current status of the test, in particular, backgrounds, qualification standards, organizing committee, intention of presenting questions, examples of problems used in the test, and demands raised by applicants, etc. Base on the analysis, some suggestions are made to establish a solid standard for evaluating robot technologies. It is suggested that the level of difficulty and contents covered should be properly adjusted considering the level of applicants. In addition, it is essential to provide well organized supplementary material for students and wide range of contents on robot technology. Finally, some efforts including cooperating with the robot classes for after school program should be made to invigorate the test.
전역적 안정성을 보장하는 비선형 외란 관측기 설계 및 강인 안정도 조건
백주훈(Juhoon Back),심형보(Hyungbo Shim) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.12
A nonlinear version of disturbance observer is presented. The system under consideration is an uncertain single input single output nonlinear system and the nominal plant is also a nonlinear system. Compared to the previous implementation given in [8], the proposed scheme does not require an auxiliary variable anymore, thus it has a simpler and more intuitive structure. A robust stability condition for the overall closed-loop system is also provided.