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유압실린더 내부 누유 검출을 위한 H<sub>∞</sub> 관측기 설계
지성철,강형주,이문직,이계홍,Jee, Sung Chul,Kang, Hyungjoo,Lee, Mun-Jik,Li, Ji-Hong 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.2
This paper presents the internal oil leakage detection problem for a hydraulic double-rod cylinder. We represent the dynamics of the hydraulic cylinder as a convex combination of linear equations. To detect oil leakage, we propose a model-based fault detection observer design scheme. The observer is designed to be robust against disturbance. Sufficient design conditions are derived in the form of linear matrix inequalities. A numerical example is provided to verify the proposed techniques.
이산시간 상태지연 시스템을 위한 ?_/?<sub>∞</sub> 고장검출 및 분리
지성철,이호재,Jee, Sung-Chul,Lee, Ho-Jae 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.10
In this paper, an $\mathfrak{H}$_/$\mathfrak{H}_{\infty}$ fault detection and isolation (FDI) observer design problem is investigated for discrete-time delayed systems. To that end, a bank consisting of the sensor's number of observers is introduced. Each residual should be sensitive to a certain partial group of faults, but robust against the disturbance as far as possible. We formulate this multiobjective FDI problem as $\mathfrak{H}$_/$\mathfrak{H}_{\infty}$ observers design problem. Sufficient design condition is expressed as iterative linear matrix inequalities. The fault is then detected and isolated by evaluating the residuals through an FDI decision logic. A computer simulation is provided for verification of the proposed technique.
유압실린더 내부 누유 검출을 위한 H<SUB>∞</SUB> 관측기 설계
지성철(Sung Chul Jee),강형주(Hyungjoo Kang),이문직(Mun-Jik Lee),이계홍(Ji-Hong Li) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.2
This paper presents the internal oil leakage detection problem for a hydraulic double-rod cylinder. We represent the dynamics of the hydraulic cylinder as a convex combination of linear equations. To detect oil leakage, we propose a model-based fault detection observer design scheme. The observer is designed to be robust against disturbance. Sufficient design conditions are derived in the form of linear matrix inequalities. A numerical example is provided to verify the proposed techniques.
자율주행로봇을 위한 강인 H<SUB>∞</SUB> 샘플치 퍼지제어기 설계
지성철(Sung Chul Jee),이재준(Jaejun Lee),이호재(Ho Jae Lee) 한국지능시스템학회 2020 한국지능시스템학회논문지 Vol.30 No.1
본 논문은 수중청소로봇의 핵싱기능을 표현하는 자율주행로봇의 강인 H∞ 샘플치제어기 설계를 논한다. 비선형 자율주행로봇의 기구학으로부터 타카기-수게노(Takagi-Sugeno) 퍼지모델을 구성한다. 샘플치제어기 설계조건은 이산시간 모델을 사용하지 않으며, 연속시간 리아푸노프(Lyapunov) 안정도이론을 기반으로 유도되며, 선형행렬부등식로 표현된다. 수치적 모의실험을 보여 제안한 기법의 적절성을 예시한다. This paper synthesize the robust H∞ sampleddata controller for the wheeled mobile robot, which characterizes the dynamic behavior of underwater cleaning robots. The Takagi-Sugeno (T-S) fuzzy model is constructed based on the kinematics of nonlinear wheeled mobile robots. The sampleddata controller design condition does not use a discretetime model and is derived based on the continuoustime Lyapunov stability theory in terms of linear matrix inequality. Numerical simulations are shown to illustrate the adequacy of the proposed technique.
이산시간 상태지연 시스템을 위한 H_/H<SUB>∞</SUB> 고장검출 및 분리
지성철(Sung Chul Jee),이호재(Ho Jae Lee) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.10
In this paper, an H_/H∞ fault detection and isolation (FDI) observer design problem is investigated for discrete-time delayed systems. To that end, a bank consisting of the sensor’s number of observers is introduced. Each residual should be sensitive to a certain partial group of faults, but robust against the disturbance as far as possible. We formulate this multiobjective FDI problem as H_/H∞ observers design problem. Sufficient design condition is expressed as iterative linear matrix inequalities. The fault is then detected and isolated by evaluating the residuals through an FDI decision logic. A computer simulation is provided for verification of the proposed technique.
편로드 유압실린더 내부 누유 검출을 위한 T—S 퍼지 모델 기반 샘플치 관측기 설계
지성철(Sung Chul Jee),김효곤(Hyogon Kim),박정우(Jeongwoo Park),이문직(Mun-Jik Lee),강형주(Hyungjoo Kang),이지홍(Ji-Hong Li) 한국해양공학회 2016 韓國海洋工學會誌 Vol.30 No.5
This paper presents an internal oil leakage detection problem for a hydraulic single-rod cylinder. We derive the dynamics of the hydraulic cylinder as a state space model, and then design a T—S fuzzy model-based fault detection observer. We adopt an H∞ observer design scheme so that the observer is robust against disturbance and relatively sensitive to the leakage fault. Sufficient design conditions are derived in the form of linear matrix inequalities. A numerical example is provided to verify the proposed techniques.
타카기―수게노 퍼지 시스템을 위한 샘플치 고장검출 관측기 설계
지성철(Sung Chul Jee),이호재(Ho Jae Lee),김도완(Do Wan Kim) 한국지능시스템학회 2013 한국지능시스템학회논문지 Vol.23 No.1
본 논문은 센서 고장을 갖는 타카기―수게노 (Takagi―Sugeno: T―S) 퍼지 시스템의 샘플치 고장검출 관측기 설계 문제를 다룬다. 고장검출을 위해 T―S 퍼지 모델 기반의 관측기가 사용된다. H_ 성능 지수를 도입하여 고장에 가능한 한 민감한 관측기를 설계한다. 고장 판단 논리에 의해 고장 발생 여부를 확인할 수 있다. 관측기의 설계조건을 선형행렬부등식으로 제안한다. 모의실험에서 수치 예제를 통해 제안한 고장검출 기법의 효용성을 입증한다. In this paper, we address fault detection observer design problem of T―S fuzzy systems with sensor fault. To detect fault, T―S fuzzy model-based observer is used. By introducing H_ performance index, an observer is designed as sensitive to fault as possible. The fault is then detected by a fault decision logic. The design conditions are derived in terms of linear matrix inequalities. An illustrative example is provided to verify the effectiveness of the proposed fault detection technique.
지성철(Sung Chul Jee),문지현(Ji Hyun Moon),이호재(Ho Jae Lee) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.7
This paper addresses the robust fault tolerant controller design problems of static output systems with disturbance. The fault is expressed by the abrupt chattering of system parameters. The design conditions are derived in terms of linear matrix inequalities and linear matrix equalities. An illustrative example is provided to verify performances of the proposed controller.