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우상범(Sangbum Woo),김성대(Sung-Dae Kim),김종태(Jongtae Kim),박영재(Young-Jae Park) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11
In general, an electro-photographic image forming apparatus, such as a laser printer, a digital copier, and the like, printed images are composed of multiple colors. If images of different colors overlap at misaligned positions, the resultant images will come to have blurred edges. In order to prevent deterioration of print quality, accurately aligning images of different colors to overlap them at exact positions is needed. In this paper, the stability of the image forming system controlled by averaging the registration errors is shown and the control law is proposed that guarantees the system stability.
Lyapunov 재설계 방법을 이용한 무인 수상정의 군집 제어
우상범(Sangbum Woo),이재용(Jaeyong Lee) 한국해양공학회 2014 韓國海洋工學會誌 Vol.28 No.4
In this paper, a practical controller for a group of USVs is proposed in order to avoid matrix inversion problems in computation. Using nonlinear mapping, a formation composed of nonholonomic agents can be stabilized even when the formation is stationary. Since there is no matrix inversion in computing the control law, the computation complexity can be resolved. A controller for stabilizing the formation errors in the presence of model uncertainty is considered using the Lyapunov redesign method. The asymptotic stability of the formation errors is shown. It is also shown that the proposed controller can be applied to guide a formation to a different shape without modification.