• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.5
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• pp.214-221
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• 2015

In this paper, we present robust estimation and detection algorithms for discrete-time switched linear systems whose output measurements are corrupted by noises. First, a mode estimation algorithm is proposed based on the minimum distance criterion. Then, state variables are also observed under the active mode estimate. Second, a detection algorithm is constructed to detect the mode switching of the switched system. With the boundedness of measurement noise, the proposed estimation algorithm returns the exact active mode and approximate state information of the switched system. In addition, the detection algorithm can detect the switching time within a pre-determined time interval after the actual switching occurred.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.1
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• pp.1-9
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• 2000

In this paper, we design a robust output feedback controller for robot manipulators with bounded parametric uncertainties using high-gain observer. The proposed control scheme with integral action improves tracking error due to limit of the robust feedback gains. High-gain observer is used to solve the noise problem with the joint velocity measurement. This controller avoids the limitation on the variation of unknown parameters and guarantees the uniformly ultimate boundedness of the closed-loop system. The performance of the proposed method is demonstrated by simulation on a 2-link manipulator.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.14 no.4
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• pp.225-247
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• 2010

In this paper, we establish a two-competitive-prey and one-predator Holling type II system by introducing a proportional periodic impulsive harvesting for all species and a constant periodic releasing, or immigrating, for the predator at different fixed time. We show the boundedness of the system and find conditions for the local and global stabilities of two-prey-free periodic solutions by using Floquet theory for the impulsive differential equation, small amplitude perturbation skills and comparison techniques. Also, we prove that the system is permanent under some conditions and give sufficient conditions under which one of the two preys is extinct and the remaining two species are permanent. In addition, we take account of the system with seasonality as a periodic forcing term in the intrinsic growth rate of prey population and then find conditions for the stability of the two-prey-free periodic solutions and for the permanence of this system. We discuss the complex dynamical aspects of these systems via bifurcation diagrams.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.1
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• pp.9-13
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• 1996

슬라이딩 모드 제어기의 실현시 발생하는 고주파 chattering 현상을 제거하기 위하여 본 논문에서는 스위칭 표면 행렬의 Range-space 동특성을 이용한 연속 시간 스위칭 다이나믹을 제안한다. 전체 폐루프 시스템은 정칙 변환에 의해 빠른 부시스템과 느린 부시스템으로 분해되어, 결국 전체 폐루프 시스템의 고유치는 각각 스위칭 표면 행렬의 Range-space와 Null-space의 동특성을 지배하는 부시스템들의 고유치들로 구성됨을 보인다. 그리고, 정합된 불확실성이 존재하는 경우 제안된 스위칭 다이나믹을 가진 제어 시스템의 응답은 일정 시간이 경과된 후 스위칭 평면의 임의의 영역으로 균일하게 유계된다는 것을 증명한다. 또한, 제어 입력의 크기에 대한 제약성을 만족하면서도 전체 제어 시스템의 정상 상태 오차를 감소시키기 위하여 두개의 스위칭 다이나믹을 도입한 수정된 슬라이딩 모드제어기를 제안한다.

• Communications of the Korean Mathematical Society
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• v.32 no.1
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• pp.55-64
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• 2017

For -2 < ${\alpha}$ < ${\infty}$ and 0 < p < ${\infty}$, the $\mathcal{Q}_K$-type space is the space of all analytic functions on the open unit disk ${\mathbb{D}}$ satisfying $$_{{\sup} \atop a{\in}{\mathbb{D}}}{\large \int_{\mathbb{D}}}{{\mid}f^{\prime}(z){\mid}}^p(1-{{\mid}z{\mid}^2})^{\alpha}K(g(z,a))dA(z)<{\infty}$$, where $g(z,a)=log\frac{1}{{\mid}{\sigma}_a(z){\mid}}$ is the Green's function on ${\mathbb{D}}$ and K : [0, ${\infty}$) [0, ${\infty}$), is a right-continuous and non-decreasing function. For 0 < s < ${\infty}$, the space $\mathcal{Q}_s$ consists of all analytic functions on ${\mathbb{D}}$ for which $$_{sup \atop a{\in}{\mathbb{D}}}{\large \int_{\mathbb{D}}}{{\mid}f^{\prime}(z){\mid}}^2(g(z,a))^sdA(z)<{\infty}$$. Boundedness and compactness of composition operators $C_{\varphi}$ acting on $\mathcal{Q}_K$-type spaces and $\mathcal{Q}_s$ spaces is characterized in terms of the norms of ${\varphi}^n$. Thus the author announces a solution to the problem raised by Wulan, Zheng and Zhou.

• Journal of the Korean Mathematical Society
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• v.42 no.1
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• pp.111-127
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• 2005

Let B and S be the unit ball and the unit sphere in $\mathbb{C}^n$, respectively. Let ${\sigma}$ be the normalized Lebesgue measure on S. Define the Privalov spaces $N^P(B)\;(1\;<\;p\;<\;{\infty})$ by $$N^P(B)\;=\;\{\;f\;{\in}\;H(B) : \sup_{0 where H(B) is the space of all holomorphic functions in B. Let ${\varphi}$ be a holomorphic self-map of B. Let ${\mu}$ denote the pull-back measure ${\sigma}o({\varphi}^{\ast})^{-1}$. In this paper, we prove that the composition operator $C_{\varphi}$ is metrically bounded on $N^P$(B) if and only if ${\mu}(S(\zeta,\delta)){\le}C{\delta}^n$ for some constant C and $C_{\varphi}$ is metrically compact on $N^P(B)$ if and only if ${\mu}(S(\zeta,\delta))=o({\delta}^n)$ as ${\delta}\;{\downarrow}\;0$ uniformly in ${\zeta}\;\in\;S. Our results are an analogous results for Mac Cluer's Carleson-measure criterion for the boundedness or compactness of $C_{\varphi}$ on the Hardy spaces $H^P(B)$.

• Proceedings of the KAIS Fall Conference
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• 2002.05a
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• pp.115-117
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• 2002

In this paper, the degree-n bifurcation set as well as the Julia sets is defined by extending the concept of the Mandelbrot set to the complex polynomial $z^{n}{\;}+{\;}c(c{\;}\in{\;}C,{\;}n{\;}\geq{\;}2)$. Some properties of the degree-n bifurcation set and the Julia sets have been theoretically investigated including the symmetry, periodicity, boundedness, connectedness and the bifurcation points as well as the governing equation for the component centers. An efficient algorithm constructing both the degree-n bifurcation set and the Julia sets is proposed using theoretical results. The mouse-operated software calico "MANJUL" has been developed for the effective construction of the degree-n bifurcation set and the Julia sets in graphic environments with C++ programming language under the windows operating system. Simple mouse operations can construct and magnify the degree-n bifurcation set as well as the Julia sets. They not only compute the component period, bifurcation points and component centers but also save the images of the degree-n bifurcation set and the Julia sets to visually confirm various properties and the geometrical structure of the sets. A demonstration has verified the useful versatility of MANJUL.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.822-826
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• 2013

In this paper, we propose an AFDO (Adaptive Fault Diagnosis Observer) and a fault tolerant controller for a class of nonlinear continuous-time system under the nonlinear abrupt actuator faults. Together with its estimation laws, the AFDO which estimates that the actuator faults is designed by using the Lyapunov analysis. Then, based on the designed AFDO, an adaptive sliding mode controller is proposed as the fault tolerant controller. Using Lyapunov stability analysis, we also prove the uniform boundedness of the state, the output and the fault estimation errors, and the asymptotic stability of the tracking error under the nonlinear time-varying faults. Finally, we illustrate the effectiveness of the proposed diagnosis method and the control scheme thorough computer simulations.

• Journal of Ocean Engineering and Technology
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• v.16 no.1
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• pp.8-15
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• 2002

This paper presents a neural net based nonlinear adaptive controller for an autonomous underwater vehicle (AUV). AUV's dynamics are highly nonlinear and their hydrodynamic coefficients vary with different operational conditions, so it is necessary for the high performance control system of an AUV to have the capacities of learning and adapting to the change of the AUV's dynamics. In this paper a linearly parameterized neural network is used to approximate the uncertainties of the AUV's dynamic, and the basis function vector of network is constructed according to th AUV's physical properties. A sliding mode control scheme is introduced to attenuate the effect of the neural network's reconstruction errors and the disturbances in AUV's dynamics. Using Lyapunov theory, the stability of the presented control system is guaranteed as well as the uniformly boundedness of tracking errors and neural network's weights estimation errors. Finally, numerical simulations for motion control of an AUV are performed to illustrate the effectiveness of the proposed techniques.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.2
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• pp.7-14
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• 2009

In this paper we consider the problem of global finite-time stabilization for a class of uncertain nonlinear systems which include uncertainties. The uncertainties are time-varying disturbances or parameters belong to a known compact set. The proposed design method is based on backstepping and dynamic exponent scaling using an augmented dynamics, from which, a dynamic smooth feedback controller is derived. The finite-time stability of the closed-loop system and boundedness of the controller are preyed by the finite-time Lyapunov stability theory and a new notion 'degree indicator'.