• 제목/요약/키워드: Lipschitz function

검색결과 65건 처리시간 0.028초

비선형강성의 유연관절로봇을 위한 가속도기반 비선형관측기 설계 (Design of Nonlinear Observer for Flexible Joint Manipulator with Nonlinear Stiffness Based on Acceleration)

  • 이승준;김형종;남경태;국태용
    • 전기학회논문지
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    • 제64권3호
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    • pp.451-457
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    • 2015
  • In this paper, we consider the observer design problem that truly reflects the nonlinear stiffness of the manipulators. The two key ideas of our design are that (a) estimation error dynamics of the manipulator equipped with accelerometer dose not dependent on nonlinearities at the link part, when the measured signals are the motor position and the output of the accelerometer and (b) the nonlinear stiffness is indeed a Lipschitz function. In order to effectively compensate the nonlinear stiffness, the gain of the proposed observer is carefully chosen from the ARE(algebraic Riccati equations) which depend on Lipschitz constant. Comparative simulation result verifies the effectiveness of the proposed solution.

DIMENSIONALLY INVARIANT SPACES

  • Baek, In Soo
    • 충청수학회지
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    • 제22권2호
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    • pp.245-250
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    • 2009
  • We consider a code function from the unit interval which has a generalized dyadic expansion into a coding space which has an associated ultra metric. The code function is not a bi-Lipschitz map but a dimension-preserving map in the sense that the Hausdorff and packing dimensions of any subset in the unit interval and its image under the code function coincide respectively.

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OPTIMAL CONDITIONS FOR ENDPOINT CONSTRAINED OPTIMAL CONTROL

  • Kim, Kyung-Eung
    • 대한수학회보
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    • 제45권3호
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    • pp.563-571
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    • 2008
  • We deduce the necessary conditions for the optimality of endpoint constrained optimal control problem. These conditions comprise the adjoint equation, the maximum principle and the transversality condition. We assume that the cost function is merely differentiable. Therefore the technique under Lipschitz continuity hypothesis is not directly applicable. We introduce Fermat's rule and value function technique to obtain the results.

Stability of nonlinear differential system by Lyapunov method

  • 안정향
    • 한국산업정보학회논문지
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    • 제12권5호
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    • pp.54-59
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    • 2007
  • We abtain some stability results for a very general differential system using the method of cone valued vector Lyapunov functions and conversely some sufficient conditions for existence of such vector Lyapunov functions.

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AN ASYMPTOTIC TRACKING CONTROL STRATEGY FOR MECHANICAL SYSTEMS WITH UNCERTAIN NONLINEAR FRICTION

  • Yang, Hyun-Suk;Hong, Bum-Il;Yang, Mee-Hyea
    • 호남수학학술지
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    • 제30권2호
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    • pp.369-378
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    • 2008
  • Modeling nonlinear friction effects is a challenging problem. In this paper, a tracking controller is proposed for a system with uncertain nonlinear friction dynamics. Instead of using a specific friction model, we assume that the friction dynamics are represented by a function, which is unknown except its being continuously differentiable and Lipschitz continuous with known Lipschitz constants. It is shown that the scheme results in friction identification and trajectory position and velocity tracking. The analysis is done using Lyapunov-based stability method.

REGULARITY OF SOLUTIONS OF 3D NAVIER-STOKES EQUATIONS IN A LIPSCHITZ DOMAIN FOR SMALL DATA

  • Jeong, Hyo Suk;Kim, Namkwon;Kwak, Minkyu
    • 대한수학회보
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    • 제50권3호
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    • pp.753-760
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    • 2013
  • We consider the global existence of strong solutions of the 3D incompressible Navier-Stokes equations in a bounded Lipschitz do-main under Dirichlet boundary condition. We present by a very simple argument that a strong solution exists globally when the product of $L^2$ norms of the initial velocity and the gradient of the initial velocity and $L^{p,2}$, $p{\geq}4$ norm of the forcing function are small enough. Our condition is scale invariant and implies many typical known global existence results for small initial data including the sharp dependence of the bound on the volumn of the domain and viscosity. We also present a similar result in the whole domain with slightly stronger condition for the forcing.

APPROXIMATION OF LIPSCHITZ CLASS BY DEFERRED-GENERALIZED NÖRLUND (D𝛾𝛽.Npq) PRODUCT SUMMABILITY MEANS

  • JITENDRA KUMAR KUSHWAHA;LAXMI RATHOUR;LAKSHMI NARAYAN MISHRA;KRISHNA KUMAR
    • Journal of applied mathematics & informatics
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    • 제41권5호
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    • pp.1057-1069
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    • 2023
  • In this paper, we have determined the degree of approximation of function belonging of Lipschitz class by using Deferred-Generalized Nörlund (D𝛾𝛽.Npq) means of Fourier series and conjugate series of Fourier series, where {pn} and {qn} is a non-increasing sequence. So that results of DEGER and BAYINDIR [23] become special cases of our results.

GRADIENT PROJECTION METHODS FOR THE n-COUPLING PROBLEM

  • Kum, Sangho;Yun, Sangwoon
    • 대한수학회지
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    • 제56권4호
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    • pp.1001-1016
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    • 2019
  • We are concerned with optimization methods for the $L^2$-Wasserstein least squares problem of Gaussian measures (alternatively the n-coupling problem). Based on its equivalent form on the convex cone of positive definite matrices of fixed size and the strict convexity of the variance function, we are able to present an implementable (accelerated) gradient method for finding the unique minimizer. Its global convergence rate analysis is provided according to the derived upper bound of Lipschitz constants of the gradient function.