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<tex> $L_{2}-E$</tex> FIR Smoothers for Deterministic Discrete-Time State–Space Signal Models
Han, Soohee,Kwon, Wook Hyun IEEE 2007 IEEE transactions on automatic control Vol.52 No.5
<P>In this note, a new type of L<SUB>2</SUB> - E performance criterion for a fixed-lag smoother is introduced, which is given by a gain between the energy of the external disturbances during the recent time horizon and the estimation error at the fixed-delayed time from the current one. By minimizing the maximum value of the L<SUB>2</SUB> - E performance criterion, the L<SUB>2</SUB>-E finite impulse response (FIR) smoother(LEFS) is obtained for a deterministic discrete-time state space signal model. The LETS is designed to meet requirements such as linearity and FIR structure with respect to measured inputs and outputs, unbiased property in the deterministic sense, and independence of any state information simultaneously. The proposed LETS is represented in a batch form for simplicity. The LETS is compared with a conventional H <SUB>infin</SUB> Infinite Impulse Response (IIR) smoother via simulation</P>
Components and an Effective IDE of Open Software Platform for Robotics Services
Soohee Han,Mi-sook Kim,Hong Seong Park 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this paper, we propose the components and an effective integrated development environment (IDE) of an Open software Platform for Robotic Services (OPRoS) that covers from the control of H/W devices to the execution of complicated application programs. Standardized components with data, service, and event ports are offered for developing robot S/W applications easily and efficiently by just combining several components in proper ways. Some design patterns are also provided for general reusable solutions to commonly occurring problems in developing the robot S/W applications. For an all-level development environment, the IDE of the OPRoS supports the development from low-level device controls to high-level contents composition. It turns out that, as a comprehensive platform for robot S/W applications, the proposed OPRoS provides convenient environments for all development steps from editing to execution.
Finite Memory Controls for Discrete-Time State-Space Systems
Soohee Han,Jung Hun Park,Wook Hyun Kwon 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
As a new type of output feedback control for a stochastic discrete-time state-space system, a finite memory control (FMC) is proposed and its properties are investigated. Instead of using an internal state involved with old data, the FMC is required to have finite memory with respect to inputs and outputs together with the future reference signals and minimize a conditional receding horizon quadratic performance criterion. It turns out that the FMC is linearly expressed in terms of inputs and outputs on the recent time, and the future reference signals on the finite time. As the linear quadratic Gaussian (LQG) controls with infinite memory structure can be separated into the linear quadratic (LQ) controls and the Kalman filters, the proposed FMC consists of a receding horizon control (RHC) for state feedback control and a minimum variance finite impulse response (MVFIR) filter for state estimation. It is shown that closed loop poles are made up of those involved with the RHC and the rest of zeros. The stability is also shown to be guaranteed under some condition.
A practical battery wear model for electric vehicle charging applications
Han, Sekyung,Han, Soohee,Aki, Hirohisa Elsevier 2014 APPLIED ENERGY Vol.113 No.-
<P><B>Abstract</B></P> <P>A practical semi-empirical battery wear model is proposed for electric vehicle (EV) charging applications. The necessary parameters are investigated for EV charging control from a practical perspective. The proposed battery wear model is based on pervasive experimental cycle life data provided by the manufacturers. The return value of the model directly indicates the wear cost, and thereby, it can be combined with other criteria for multi-objective optimization. As a result, the proposed model is more practically applicable to battery-charging applications than the conventional models. Then, the cost functions are developed for typical vehicle-to-grid (V2G) applications incorporating the battery wear. Based on the developed cost functions, several case studies are performed showing the significance of the battery wear. It is shown through simulation that neglecting the effect of wear in V2G applications may lead to an erroneous result attributed to the exaggerated cost.</P> <P><B>Highlights</B></P> <P> <UL> <LI> A universally valid battery wear is assessed and modeled in a quantitative manner. </LI> <LI> An optimal charging scheme is proposed utilizing the developed battery wear. </LI> <LI> The economics of a battery-oriented service is assessed for various battery costs. </LI> <LI> The break-even battery price is obtained from the proposed wear model. </LI> <LI> An efficient method of customizing the wear model for various batteries is proposed. </LI> </UL> </P>