• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.236-242
• /
• 1992

Multi-layered neural networks are applied to the identification and control of nonlinear dynamical system. Traditional adaptive control techniques can only deal with linear systems or some special nonlinear systems. A scheme for combining multi-layered neural networks with model reference network techniques has the capability to learn the nonlinearity and shows the great potential for adaptive control. In many interesting cases the system can be described by a nonlinear model in which the control input appears linearly. In this paper the identification of linear and nonlinear part are performed simultaneously. The projection algorithm and the new estimation method which uses the delta rule of neural network are compared throughout the simulation. The simulation results show that the identification and adaptive control schemes suggested are practically feasible and effective.

• The Journal of Korea Robotics Society
• /
• 제2권2호
• /
• pp.152-160
• /
• 2007

In this paper, two schemes are introduced for dynamic simulation of underwater robotic systems. One is principle of dynamical balance, which is an easy and powerful tool for formulating dynamic equations of composite systems such as underwater vehicle-manipulator system. In the dynamic modeling, this principle gives us the closed-form of dynamic equations on matrix Lie group. The other is geometric integration algorithm, called 4-th order explicit Munthe-Kaas method. By this method, the derived differential equations can be integrated preserving geometric structure. Adopting these two schemes, dynamic simulation of underwater vehicle- manipulator system can be conducted more easily and more reliably.

• Journal of the Institute of Convergence Signal Processing
• /
• 제2권1호
• /
• pp.95-100
• /
• 2001

In this paper, we proposed the robust control scheme for a class of nonlinear dynamical systems using output feedback linearization method. The presented control scheme is based on the VSS. We assume that the nonlinear dynamical system is minimum phase, the relative degree of the system is r＜n and zero dynamics is stable. It is also shown that the global asymtotically stability is guaranted. And we verified that the proposed control scheme Is the feasible through a computer simulation.

• Proceedings of the Korea Institute of Convergence Signal Processing
• /
• 한국신호처리시스템학회 2003년도 하계학술대회 논문집
• /
• pp.177-182
• /
• 2003

The robust output tracking control problem of general nonlinear MIMO systems is discussed. The robustness against parameter uncertainties is considered. In this paper, we proposed the robust output tracking control scheme for a class of MIMO nonlinear dynamical systems using output feedback linearization method. The presented control scheme is based on the VSS. We assume that the nonlinear dynamical system is minimum phase, the relative degree of the system is r$_{1}$＋r$_{2}$＋…r$_{m}$$\leq$ n and zero dynamics is stable. It is shown that the outputs of the closed-loop system asymptotically track given output trajectories despite the uncertainties while maintaining the boundedness of all signals inside the loop. And we verified that the proposed control scheme is then applied to the control of a two degree of freedom (DOF) robotic manipulator with payload.d.

• Smart Structures and Systems
• /
• 제14권5호
• /
• pp.743-763
• /
• 2014

The paper presents an investigation of the nonlinear dynamical system of an electrostatically actuated micro-cantilever by the incremental harmonic balance (IHB) method. An efficient approach is proposed to tackle the difficulty in expanding the nonlinear terms into truncated Fourier series. With the help of this approach, periodic and multi-periodic solutions are obtained by the IHB method. Numerical examples show that the IHB solutions, provided as many as harmonics are taken into account, are in excellent agreement with numerical results. In addition, an iterative algorithm is suggested to accurately determine period doubling bifurcation points. The route to chaos via period doublings starting from the period-1 or period-3 solution are analyzed according to the Floquet and the Feigenbaum theories.

• Journal of applied mathematics & informatics
• /
• 제29권3_4호
• /
• pp.563-572
• /
• 2011

In this paper, the Lie symmetry analysis is performed on the three mixed second-order PDEs, which arise in fluid dynamics, nonlinear wave theory and plasma physics, etc. The symmetries and similarity reductions of the equations are obtained, and the exact solutions to the equations are investigated by the dynamical system and power series methods. Then, the exact solutions to the general types of PDEs are considered through a variable transformation. At last, the symmetry and integration method is employed for reducing the nonlinear ODEs.

• The Pure and Applied Mathematics
• /
• 제16권1호
• /
• pp.133-145
• /
• 2009

The purpose of this paper is to extend and globalize the Walrasian evolutionary cobweb model in an independent single local market of Brock and Hommes ([3]), to the case of the global market evolution over an infinite chain of many local markets interacting each other through a diffusion of prices between them. In the case of decreasing demands and increasing supplies with a weighted average of rational and naive predictors, we investigate, via the methods of Lattice Dynamical System, the spatial-temporal behaviors of global market dynamics and show that some kind of bounded dynamics of global market do exist and can be controlled by using the parameters in the model.

• Smart Structures and Systems
• /
• 제6권9호
• /
• pp.991-1005
• /
• 2010

The key to detecting damage to civil engineering structures is to find an effective damage indicator. The damage indicator should promptly reveal the location of the damage and accurately identify the state of the structure. We propose to use the distance measures of low-order AR models as a novel damage indicator. The AR model has been applied to parameterize dynamical responses, typically the acceleration response. The premise of this approach is that the distance between the models, fitting the dynamical responses from damaged and undamaged structures, may be correlated with the information about the damage, including its location and severity. Distance measures have been widely used in speech recognition. However, they have rarely been applied to civil engineering structures. This research attempts to improve on the distance measures that have been studied so far. The effect of varying the data length, number of parameters, and other factors was carefully studied.

• The Pure and Applied Mathematics
• /
• 제16권4호
• /
• pp.427-441
• /
• 2009

The method of Lattice Dynamical System is used to establish a global model on an infinite chain of many local markets interacting each other through a diffusion of prices between them. This global model extends the Walrasian evolutionary cobweb model in an independent single local market to the global market evolution. We assume that each local market has linear decreasing demands and quadratic supplies with naive predictors, and investigate the stationary behaviors of global price dynamics and show that their dynamics are conjugate to those of $H{\acute{e}}non$ maps and hence can exhibit complicated behaviors such as period-doubling bifurcations, chaos, and homoclic orbits etc.

• The Pure and Applied Mathematics
• /
• 제17권1호
• /
• pp.93-106
• /
• 2010

We employ the methods of Lattice Dynamical System to establish a global model extending the Walrasian evolutionary cobweb model in an independent single local market to the global market evolution over an infinite chain of many local markets with interaction of each other through a diffusion of prices between them. For brevity of the model, we assume linear decreasing demands and logistic supplies with naive predictors, and investigate the traveling wave behaviors of global price dynamics and show that their dynamics are conjugate to those of H$\acute{e}$non maps and hence can exhibit complicated behaviors such as period-doubling bifurcations, chaos, and homoclic orbits etc.