• Journal of the Korean Operations Research and Management Science Society
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• v.19 no.3
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• pp.203-217
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• 1994

In this paper we develop an exponentialization procedure for the modelling of open FMS networks with general processing time at each station and limited buffer size. By imposing a reasonable assumption on the solution set, the nonlinear equation system for the exponentialization procedure is formulated as a variational inequality problem and the solution existence is examined. The efficient algorithm for the nonlinear equation system is developed using linearized Jacobi approximation method.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.4 no.2
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• pp.135-142
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• 2000

We consider a multigrid algorithm for higher order finite difference scheme for the Poisson problem on rectangular domain. Several smoothers including Jacobi, Red-black Gauss-Seidel are tested and compared. Since higher order scheme gives much more accurate result then 5-point scheme, one may use small number of levels with higher order scheme and thus the overall cost is reduced quite a lot. The numerical experiment compares the two cases.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.32 no.10
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• pp.335-340
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• 1983

The analysis of static power converter circuit using state-space method is presented. Semiconductors are modeled in two-state resistors depending on their ON or OFF states. Then the modes of circuit are determined according to the conducting states of semiconductors and different describing matrices are given automatically for each mode. Newton-Raphson algorithm is used as an iterative method for obtaining steady-state solution and an adjoint network is introduced for the efficient and accurate evaluation of the Jacobi matrix in the algorithm. Using the porogram exploited from the above algorithm, it is shown through examples that the results are in good agreement with the analytic solutions and computation time is considerably reduced for obtaining the steady-state solutions.

• Smart Media Journal
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• v.3 no.2
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• pp.9-13
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• 2014

The Levenberg-Marquardt (LM) algorithm is the most widely used fitting algorithm. It outperforms simple gradient descent and other conjugate gradient methods in a wide variety of problems. Based on the work of paper[1], we propose a modified Levenberg-Marquardt algorithm for better performance of mobile system. The LM parameter at the $k_{th}$ iteration is chosen ${\mu}=A{\bullet}{\parallel}f(x){\parallel}{\bullet}I$ where f is the residual function, and J is the Jacobi of f. In this paper, we show this method is more efficient than traditional method under the situation that the system iteration is limited.

• Journal of Electrical Engineering and Technology
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• v.13 no.4
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• pp.1740-1751
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• 2018

This paper proposes a novel fault tolerant tracking control (FTTC) scheme for a class of nonlinear systems with actuator failures based on the policy iteration (PI) algorithm and the adaptive fault observer. The estimated actuator failure from an adaptive fault observer is utilized to construct an improved performance index function that reflects the failure, regulation and control simultaneously. With the help of the proper performance index function, the FTTC problem can be transformed into an optimal control problem. The fault tolerant tracking controller is composed of the desired controller and the approximated optimal feedback one. The desired controller is developed to maintain the desired tracking performance at the steady-state, and the approximated optimal feedback controller is designed to stabilize the tracking error dynamics in an optimal manner. By establishing a critic neural network, the PI algorithm is utilized to solve the Hamilton-Jacobi-Bellman equation, and then the approximated optimal feedback controller can be derived. Based on Lyapunov technique, the uniform ultimate boundedness of the closed-loop system is proven. The proposed FTTC scheme is applied to reconfigurable manipulators with two degree of freedoms in order to test the effectiveness via numerical simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.10-13
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• 1995

This paper considers the linear-quadratic optimal regulator problem for nonstandard singularly perturbed systems making use of the recursive technique. We first derive a generalized Riccati differential equation by the Hamilton-Jacobi equation. In order to obtain the feedback gain, we must solve the generalized algebraic Riccati equation. Using the recursive technique, we show that the solution of the generalized algebraic Riccati equation converges with the rate of convergence of O(.epsilon.). The existence of a bounded solution of error term can be proved by the implicit function theorem. It is enough to show that the corresponding Jacobian matrix is nonsingular at .epsilon. = 0. As a result, the solution of optimal regulator problem for nonstandard singularly perturbed systems can be obtained with an accuracy of O(.epsilon.$^{k}$ ). The proposed technique represents a significant improvement since the existing method for the standard singularly perturbed systems can not be applied to the nonstandard singularly perturbed systems.

• Journal of computational fluids engineering
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• v.3 no.2
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• pp.17-26
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• 1998

The three-dimensional incompressible Navier-Stokes equations have been solved by a node-centered finite volume method with unstructured hybrid grids. The pressure-velocity coupling is handled by the artificial compressibility algorithm and convective fluxes are obtained by Roe's flux difference splitting scheme with linear reconstruction of the solutions. Euler implicit method with Jacobi matrix solver is used for the time-integration. The viscous terms are discretised in a manner to handle any kind of grids such as tetragedra, prisms, pyramids, hexahedra, or mixed-element grid. Inviscid bump flow is solved to check the accuracy of high order convective flux discretisation. And viscous flows around a circular cylinder and a sphere are studied to show the efficiency and accuracy of the solver.

• Journal of applied mathematics & informatics
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• v.18 no.1_2
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• pp.205-228
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• 2005

Let I(f) be the integral defined by : $I(f) = \int\limits_{a}^{b} f(x)w(x)dx$ with f a given function, w a nonclassical weight function and [a, b] an interval of IR (of finite or infinite length). We propose to calculate the approximate value of I(f) by using a new scheme for deriving a non-linear system, satisfied by the three-term recurrence coefficients of semi-classical orthogonal polynomials. Finally we studies the Stability and complexity of this scheme.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.1
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• pp.65-72
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• 2006

A variable structure controller with an optimized sliding surface is proposed for slew maneuver of a rigid spacecraft. Rodrigues parameters are chosen to represent the spacecraft attitude. The quadratic type of performance index is used to design the sling surface. For optimization of the sliding surface, a Hamilton- Jacobi-Bellman equation is formulated and it is solved through the numerical algorithm using Galerkin approximation. The solution denotes a nonlinear sliding surface, on which the trajectory of the system satisfies the optimality condition approximately. Simulation result demonstrates that the proposed controller is effectively applied to the slew maneuver of a rigid spacecraft.