• Journal of Mechanical Science and Technology
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• v.15 no.4
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• pp.433-440
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• 2001

A new design of the sliding mode control is proposed for the uncertain linear time-varying second order system. The proposed control drives system states to the target point in the minimum time with specified ranges of parametric uncertainties and disturbances. One of the advantages of the proposed control scheme is that the control inputs do not go beyond saturation limits of the actuators. The other advantage is that the minimum arrival time and the acceleration of the second order actuators system can be estimated with given parametric bounds and can be expressed in the closed from; conversely, the designer can select actuators based on the condition of the minimum arrival time to the target point. The superior performance of the proposed control scheme to other sliding mode controllers is validated by computer simulations.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.4
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• pp.7-13
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• 1998

The gloval model is developed by combining this actuator formular with robot manipulator which is reported previously . The model initially represented in the form of coupled time-varying nonlinear dynamic system. It then decomposed into the decoupled linear model using nonlinear feedback and state transformation techniques. The new model employes the pole replacement method to improve the stability of the system. Using this new model, an robust control algorithm is developed. The proposed algorithm takes two state variables, position vector and velocity vector, and one input variable from actuator, input voltage.

• Fibers and Polymers
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• v.7 no.1
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• pp.62-65
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• 2006

Making a good model is one of the most important aspects in the field of a control system. If one makes a good model, one is now ready to make a good controller for the system. The focus of this thesis lies on system modeling, the draft system in specific. In modeling for a draft system, one of the most common methods is the 'least-square method'; however, this method can only be applied to linear systems. For this reason, the draft system, which is non-linear and a time-varying system, needs a new method. This thesis proposes a new method (the MLS method) and demonstrates a possible way of modeling even though a system has input noise and system noise. This thesis proved the adaptability and convergence of the MLS method.

• International Journal of Ocean System Engineering
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• v.1 no.3
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• pp.120-135
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• 2011

This paper proposes a model based trajectory tracking control scheme for under-actuated underwater robotic vehicles. The difficulty in stabilizing a non-linear system using smooth static state feedback law means that the design of a feedback controller for an under-actuated system is somewhat challenging. A necessary condition for the asymptotic stability of an under-actuated vehicle about a single equilibrium is that its gravitational field has nonzero elements corresponding to non-actuated dynamics. To overcome this condition, we propose a continuous time-varying control law based on the direct estimation of vehicle dynamic variables such as inertia, damping and Coriolis & centripetal terms. This can work satisfactorily under commonly encountered uncertainties such as an ocean current and parameter variations. The proposed control law cancels the non-linearities in the vehicle dynamics by introducing non-linear elements in the input side. Knowledge of the bounds on uncertain terms is not required and it is conceptually simple and easy to implement. The controller parameter values are designed using the Taguchi robust design approach and the control law is verified analytically to be robust under uncertainties, including external disturbances and current. A comparison of the controller performance with that of a linear proportional-integral-derivative (PID) controller and sliding mode controller are also provided.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.3 no.2
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• pp.92-99
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• 1991

A moored body in the sea is subjected to second-order wave forces as well as to linear oscillatory ones. The second-order farces contain slowly-varying components, of which the characteristic frequency can be as low as the natural frequency of horizontal motions of the moored body. As a consequence, the slowly-varying force can excite unexpectedly large horizontal excursion of the body, which may cause a serious damage on the mooring system. In design analysis of Turret-type mooring system which is one of the interesting mooring systems for a floating body. the slowly-varying drift forces and the transient motion of the system during weathervaning are very important. In this paper the slowly-varying drift forces were calculated by using the Quadratic Transfer Function with considering the second order free-wave contributions. Additionaly the transient surge motion of the moored body was simulated with including the roll of the time-memory effect. In this simulation the spring constant of the spread Turret mooring system is updated at every time step for considering the nonlinear effect.

• Ocean Systems Engineering
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• v.2 no.2
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• pp.147-158
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• 2012

A time-domain simulation of a land-based Oscillating Water Column (OWC) with various irregular waves as a form of PM spectrum is performed by using a two-dimensional fully nonlinear numerical wave tank (NWT) based on the potential theory, mixed Eulerian-Lagrangian (MEL) approach, and boundary element method. The nonlinear free-surface condition inside the OWC chamber was specially devised to describe both the pneumatic effect of the time-varying pressure and the viscous energy loss due to water column motions. The quadratic models for pneumatic pressure and viscous loss are applied to the air and free surface inside the chamber, and their numerical results are compared with those with equivalent linear ones. Various wave spectra are applied to the OWC system to predict the efficiency of wave-energy take-off for various wave conditions. The cases of regular and irregular waves are also compared.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.139-141
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• 1997

In this paper, intervalwise receding horizon controls (IRHCs) are proposed for linear time systems subject to $H_2$ and $H_{\infty}$ problems. Uniform stability conditions are provided for those systems. Under given conditions stability is proved without using an adjoint system. It is also shown that under proposed stability conditions for $H_{\infty}$ problem, $H_{\infty}$-norm bound is satisfied. The results in this paper arc also applicable to periodic systems which belong to the class of time systems.

• Proceedings of the KIEE Conference
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• 1990.11a
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• pp.402-406
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• 1990

A new approach of a time-varying switching hyperplane based on the theory of variable structure system (VSS) is proposed for the control of multivariable systems. While the conventional switching surface can net achieve the robust performance against parameter variations and disturbances before the sliding mode occurs, the proposed switching hyperplane, which is obtained from the eigen-structure assignment theory powerfully used in the linear multivariable systems, ensures the sliding mode from the initial state. And new continuous control input which guarantees the sliding mode is proposed. This new control input does not arise chattering problem which arises with the conventional control input of variable structure control systems. Through numerical examples, the expellant performances of the proposed controller are verified.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.12 no.6
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• pp.865-870
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• 2001

In this paper, we analyse the effect of phase noise from PLL frequency synthesizer on 64 QAM when detecting corrupted signals. To predict the phase noise of an oscillator very accurately, we assume that the oscillator is linearly time-varying when the input impulsive current to the oscillator is small. The performance of the detector which detects the corrupted signal by oscillator phase noise is compared with that when the detector is only affected by AWGN and then analyse how much the phase noise degrades the system performance for 64 QAM.

• Journal of applied mathematics & informatics
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• v.26 no.5_6
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• pp.961-972
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• 2008

In this paper, we consider the global exponential stability of cellular neural networks with time-varying delays. Based on the Lyapunov function method and convex optimization approach, a novel delay-dependent criterion of the system is derived in terms of LMI (linear matrix inequality). In order to solve effectively the LMI convex optimization problem, the interior point algorithm is utilized in this work. Two numerical examples are given to show the effectiveness of our results.