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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.
유성진(Sung-jin Yoo) 한국아메리카학회 2013 美國學論集 Vol.45 No.1
Many works in the field of social movement have claimed that grassroot movements, usually arising out of political distrust, can be influential when coinciding with the preference of electorate. This article is an attempt to apply the claim to the case of "Tea-party Movement" in the US. It has been found that the Tea-party Movement in 2010 midterm election could be powerful in accordance with policy preference of general public. However, as the Movement became extremely conservative since 2010 and, as a result, its policy orientations are far distant from that of general public, it lost its political influence in 2012 US Presidential election. These findings imply that any grassroot movement, in order to maintain its influence, needs to keep accordance with the policy orientation of general public.
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.