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LMI에 기초한 $H_{\infty}$ 서보제어를 이용한 AUV의 강인한 자동 심도 및 방향제어
양승윤,김인수,이만형 한국군사과학기술학회 2000 한국군사과학기술학회지 Vol.3 No.1
In this paper, robust depth and course controllers of AUV(autonomous underwater vehicles) using LMI-based H$_{\infty}$ servo control are proposed. The $H_{\infty}$ servo problem is modified to an $H_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The robust depth and course controllers are designed to be satisfied the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under sea wave and tide disturbances. The performances of the designed controllers are evaluated by computer simulations, and these simulation results show the applicability of the proposed robust depth and course controller.
인도네시아 4·5 총선거와 이슬람계 정당의 대연합 가능성에 대한 소고
양승윤 한국이슬람학회 2004 한국이슬람학회논총 Vol.14 No.1
Indonesia is the biggest Islamic state in the world whose total population is 220 milion in 2003. During the last six decades in the modern government in Indonesia, Islamic parties have managed to create coalition governments. However, they have failed to organize their own strong government in long-term basis. During the Soeharto regime of 32 years, Islamic parties were forced to obey the military government. Fall of Soeharto regime immediately open the era of civil government. Therefore through the General Election on 7th June 1999, Abdurrahman Wahid, who was supported by Islamic PAN party, was elected as the first civilian president in Indonesia. But his presidential duration is very short due to the lack of harmony of power politics. Indonesia scheduled to have her 9th General Election on 15th April 2004 that contains very important meaning. There is no doubt that the coalition of non-Islamic parties including Megawati's PDI-P party and Akbar Tanjung's Golkar is more powerful than that of Islamic parties. But the economic dilemma under the Megawati government helped to reduce the nation-wide support for the PDI-P party. In the meantime, the second largest Golkar party has many presidential candidates. That means Golkar now is under the hard competition of leadership. In these circumstances, it is possible for Islamic parties led by Amien Rais to win the second round presidential competition, which is scheduled on 20th September 2004, if he succeeds to invite Susilo Bambang Yudhoyono as his running mate.
양승윤,Yang, Seung-Yun 제어·로봇·시스템학회 1999 제어·로봇·시스템학회 논문지 Vol.5 No.4
This paper contains the design specification and detail design for a towing winch system. We analyze operating condition of the system and decide the design specification for the winch system, and also perform a detail design for the subsystem such as hydraulic winch system, control equipment and power supplier at the full scale development. The performance of designed towing winch is established by load tests and sea trial tests.