• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1414-1417
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• 2003

In this paper, sliding mode controller for discrete-time nonlinear systems with uncertainties and disturbances are proposed. The concept of time-delay control (TDC) which consists of estimating the uncertain dynamics of the system through past observations of the system response is used. The proposed controller guarantees that the closed-loop system states are globally uniformly ultimately bounded (GUUB). It is also shown that the closed-loop system states are globally uniformly asymptotically stable (GUAS) if uncertainties are constant.

• 대한수학회보
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• 제52권4호
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• pp.1113-1122
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• 2015

This paper is concerned with the pattern formation of a diffusive predator-prey model with two time delays. Based upon an analysis of Hopf bifurcation, we demonstrate that time delays can induce spatial patterns under some conditions. Moreover, by use of a series of numerical simulations, we show that the type of spatial patterns is the spiral wave. Finally, we demonstrate that the spiral wave is asymptotically stable.

• 대한수학회보
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• 제49권6호
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• pp.1255-1262
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• 2012

A type of delayed Lotka-Volterra competition reaction-diffusion system is considered. By constructing a new Lyapunov function, we prove that the unique positive steady-state solution is globally asymptotically stable when interspecies competition is weaker than intraspecies competition. Moreover, we show that the stability property does not depend on the diffusion coefficients and time delays.

• 대한수학회보
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• 제50권6호
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• pp.1847-1854
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• 2013

The main concern of this paper is to study the dynamics of an n-dimensional ratio-dependent predator-prey system with diffusion. We study the dissipativeness, persistence of the system and it is shown that the unique positive constant steady state is globally asymptotically stable under some assumptions.

• 대한수학회보
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• 제54권2호
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• pp.383-389
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• 2017

This paper devotes to the study of a diffusive model for unstirred membrane reactors with maintenance energy subject to a homogeneous Neumann boundary condition. It shows that the unique constant steady state is globally asymptotically stable when it exists. This result further implies the non-existence of the non-uniform steady state solution.

• 대한수학회보
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• 제43권3호
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• pp.575-587
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• 2006

In this paper, we provide 3 detailed and explicit procedure of obtaining some regions of attraction for the positive steady state (assumed to exist) of a well known Lotka-Volterra type predator-prey system. Also we obtain the sufficient conditions to ensure that the positive equilibrium point of a well known Lotka-Volterra type predator-prey system with a single discrete delay is globally asymptotically stable.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.697-702
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• 1994

This paper illustrates a new learning control for robot manipulators using Lyapunov direct method. It has been shown that under the proposed learning control robot manipulators are always guaranteed to be asymptotically stable with respect to the number of trials. The proposed control is also robust in the sense that the exact knowledge of the nonlinear dynamics is not required except for bounding functions on the magnitude.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.801-806
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• 1987

The receding horizon tracking control for the discrete time invariant systems is presented in this paper. This control law is derived with the receding horizon concept from the standard tracking problems. Stability properties of this control law are analyzed. It is shown that there exists a finite horizon index for which the closed loop systems are always asymptotically stable. The receding horizon tracking control is a kind of predictive control and will add a new clan to many existing predictive controls, with which some comparisons are made.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.43.5-43
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• 2001

This paper considers a new synthesis of the optimally performing brain-state-in-a-box (BSB) neural associative memory given a set of prototype patterns to be stored as asymptotically stable equilibrium points with the large and uniform size of the domain of attraction (DOA). First, we propose a new theorem that will be used to provide a guideline in design of the BSB neural associative memory. Finally, a design example is given to illustrate the proposed approach and to compare with existing synthesis methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.260-265
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• 1992

This paper presents an adaptive control scheme for flexible joint robot manipulators. This control scheme is based on the Lyapunov direct method with the arm energy-based Lyapunov function. The proposed adaptive control scheme uses only the position and velocity feedback of link and motor shaft. The adaptive control system of flexible joint robots is asymptotically stable regardless of the joint flexibility value. Therefore, the assumption of weak joint ealsticity is not needed. Also, joint flexibility value is unknown. Simulation results are presented to show the feasibility of the proposed adaptive control scheme.