• Title, Summary, Keyword: Leader-follower

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Social Learning Effect of Leader's OCB on Follower's OCB (리더 조직시민행동의 사회적 학습 효과)

  • Kim, Boyoung;Min, Eunhong
    • Knowledge Management Research
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    • v.21 no.2
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    • pp.159-176
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    • 2020
  • According to the social learning theory, leader' organizational citizenship behavior (OCB) is a predisposing factor for follower' OCB, because they acknowledge and imitate leader as a desirable example of behaviors for organizational and individual success. We investigate social learning effect of leader OCB on follower OCB and examine the moderating role of political skill in the mediated relationship between leaders OCB and follower OCB (with followers' affective organizational commitment as the mediator). We find that follower's affective organizational commitment may mediate the relationship between leader OCB and follower OCB. Furthermore, we find that follower with high political skill may focus on the instrumental value of OCB. Political skill moderates the relationship between follower' affective organizational commitment and follower OCB. Data from 325 leader-follower dyads support the hypothesis. Theoretical and practical implications of these findings are also discussed.

Obstacle Avoidance of Leader-Follower Formation (리더-추종자 대형제어의 장애물 회피)

  • Oh, Young-Suk;Park, Jong-Hun;Kim, Jin-Hwan;Huh, Uk-Youl
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.60 no.9
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    • pp.1761-1766
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    • 2011
  • This paper presents obstacle avoidance of Leader-Follower formation. The follower robot maintain the formation with leader robot and avoid the detected obstacle. When obstacle is detected, follower robot avoid it considering leader robot and follower robot position and follower robot and obstacle position. In addition, follower robot avoid obstacle irrespective of obstacle size. Controller of follower robot is designed to satisfy Lyapunov stability by backstepping method. Simulation results shows that the designed controller has a stable performance.

Leader-Follower Based Formation Control of Multiple Mobile Robots Using the Measurements of the Follower Robot (추종 로봇의 측정값들을 이용한 다중 이동 로봇의 선도-추종 접근법 기반 군집 제어)

  • Park, Bong Seok
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.5
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    • pp.385-389
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    • 2013
  • This paper proposes the leader-follower based formation control method for multiple mobile robots. The controller is designed using the measurements of the follower robot such as the relative distance and angle between the leader and the follower. This means that the follower robot does not require the information of the leader robot while keeping the desired formation. Therefore, the proposed control method can reduce the communication loss and the cost for hardware. From Lyapunov stability theory, it is shown that all error signals in the closed-loop system are uniformly ultimately bounded. Finally, simulation results demonstrate the effectiveness of the proposed control system.

Congruence in Leader and Follower Perceptions of Leader-Member Exchange: Relationships with Organizational Commitment and Perceptions of Organizational Politics (리더-구성원 교환관계에 대한 리더와 구성원 지각의 정합성: 조직정치지각과 정서적 조직몰입의 관계를 중심으로)

  • Park, Jae-Chun
    • The Journal of the Korea Contents Association
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    • v.16 no.11
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    • pp.240-252
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    • 2016
  • The purposes of this paper examines the extant to which congruence in leader and follower rating of LMX quality is related to organizational commitment, and perceptions of organizational politics(POPs). A conceptual model is introduced that identifies four combinations of leader and follower LMX ratings of Cogliser et al.(2009): balanced/low LMX(low leader and follower LMX), balanced/high LMX(high leader and follower LMX), follower overestimation(low leader LMX/high follower LMX), follower underestimation(high leader LMX/low follower LMX). The summary of results based on a sample of 236 matched pairs of leaders and followers in KOREA is as follows: First, balanced/high LMX and follower overestimation were associated with relatively high levels of affective organizational commitment, and perceptions of organizational politics. However, follower underestimation and balanced/low LMX was related to low levels of follower outcomes. In particular, follower underestimation and balanced/low LMX were significantly different from balanced/high LMX and follower overestimation. Second, perceptions of organizational politics was negatively related to affective organizational commitment in the four LMX relationship types. Especially, the negative relationship between POPs and organizational commitment was stronger for people who are low as compared with high in LMX quality. Theoretical and practical implications of our findings as well as directions for future research are provided.

Leader-Follower Model Analysis on Mixed Strategy Nash Equilibrium of Electricity Market with Transmission Congestion (송전선 혼잡시의 복합전략 내쉬균형에 대한 선도-추종자 모형 해석)

  • Lee, Kwang-Ho
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.61 no.2
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    • pp.187-193
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    • 2012
  • Nash Equilibrium (NE) is as useful tool for investigating a participant's strategic generation quantity in a competitive electricity market. Cournot model may give a mixed strategy NE instead of a pure strategy when transmission constraints are considered. A mixed strategy is difficult to compute, complicated to understand conceptually, and hard to implement in an electricity market practically. This paper presents that a mixed strategy does not appear in Stackelberg leader-follower model even under a transmission congestion. A solution method is proposed for the leader-follower model under a nondifferentiable space of a strategy variable. Based on the pure strategy NE with a transmission line congested, the merit of leader-follower model is shown from a social welfare point of view.

UAV Formation Wight Control Law Utilizing Energy Maneuverability

  • Choi, Jong-Ug;Kim, You-Dan;Moon, Gwan-Young
    • International Journal of Aeronautical and Space Sciences
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    • v.9 no.1
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    • pp.31-41
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    • 2008
  • This paper deals with the energy saving problem of the follower aircraft in the loose leader-follower formation geometry in which the lateral separation between formation members is more than a wingspan of the leader aircraft. This formation geometry offers no drag benefit, but has a strategic advantage. In the case of loose formation flight, the follower aircraft usually consumes more energy than the leader aircraft because the follower aircraft should use more thrust to maintain given formation geometry, especially during the turning phase from the outside of the leader"s flight path or join-up phase. A formation control scheme based on the energy maneuverability is proposed in this paper. To design the proposed control law, the velocity command is designed using feedback linearization for the horizontal formation geometry and then coverts it to the altitude command using the energy equation. Numerical simulation is performed to verify the effectiveness of the proposed controller.

A Modified Nonlinear Guidance Logic for a Leader-Follower Formation Flight of Two UAVs (무인항공기의 Leader-Follower 편대비행을 위한 수정된 비선형 유도법칙)

  • Kim, Do-Myung;Park, Sang-Hyuk;Nam, Su-Hyun;Suk, Jin-Young
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.1
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    • pp.8-14
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    • 2009
  • A formation flight guidance logic that enables the leader-follower station keeping between two UAVs is presented in this paper. The logic is motivated by the investigation of the relation between the proportional navigation and the nonlinear trajectory tracking guidance law, The simplicity of the presented method provides computational efficiency and allows easy implementation. An excellent performance of the proposed logic is demonstrated via various numerical simulations for multiple UAVs environment.

LOS (Line of Sight) Algorithm and Unknown Input Observer Based Leader-Follower Formation Control (LOS 알고리듬과 미지 입력 관측기에 기초한 선도-추종 대형 제어)

  • Yoon, Suk-Min;Yeu, Tae-Kyeong;Park, Seong-Jea;Hong, Sup;Kim, Sang-Bong
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.3
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    • pp.207-214
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    • 2010
  • This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

Consensus of Leader-Follower Multi-Vehicle System

  • Zhao, Enjiao;Chao, Tao;Wang, Songyan;Yang, Ming
    • International Journal of Aeronautical and Space Sciences
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    • v.18 no.3
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    • pp.522-534
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    • 2017
  • According to the characteristics of salvo attack for the multiple flight vehicles (MFV), the design of cooperative guidance law can be converted into the consensus problem of multi-vehicle system through the concept of multi-agent cooperative control. The flight vehicles can be divided into leader and followers depending on different functions, and the flight conditions of leader are independent of the ones of followers. The consensus problem of leader-follower multi-vehicle system is researched by graph theory, and the consensus protocol is also presented. Meanwhile, the finite time guidance law is designed for the flight vehicles via the finite time control method, and the system stability is also analyzed. Whereby, the guidance law can guarantee the line of sight (LOS) angular rates converge to zero in finite time, and hence the cooperative attack of the MFV can be realized. The effectiveness of the designed cooperative guidance method is validated through the simulation with a stationary target and a moving target, respectively.

Leader Robot Controller Considering Follower with Input Constraint (입력 제한을 가진 추종 로봇을 고려한 선도 로봇 제어기)

  • Lee, Seung-Joo;Hong, Suk-Kyo
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.61 no.7
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    • pp.1032-1040
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    • 2012
  • This paper proposes controller of leader robot considering following robot with input constraints based on leader-following approach. In the previous formation control researches, it was assumed that leader and follower is same object. If leader robot drives as maximum speed that the initial position errors still remain even if following robot have same velocity as a leader. In the situation that velocity of following robot is lower than its leader robot, following robot cannot follow leader robot. Furthermore, the following robot will not be able to made formation with leader robot and keep proximity communication or sensing range. Therefore, multiple mobile robot system using leader-following method should be guaranteed range to get information each other. In this paper, Leader robot is driving to goal position using linear controller and following robot is following trajectory to be made from leader robot. We assume that following robot has input constraints to realize different performance between leader robot and following robot. We design controller of leader robot for desired goal position including the errors between formation and following robot. Thus, we propose leader robot controller considering input constraints of following robot. Finally, we were able to confirm the validity of the proposed method based on simulation results.