• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.18 no.12
• /
• pp.1855-1869
• /
• 1993

For the traditional ALOHA system without capture, the Markov chain obtained using the number of backlogged users at each slot if shown to be non-ergodic. So the infinite population ALOHA with fixed retransmission probabilities is unstable for any choice of the arrival rates and retransmission probabilities. The capture ALOHA system of also shown to be unstable for any arrival rate unless it has perfect. In this paper, we study a stabilization policy for capture ALOHA system that controls the retransmission probabilities and prove the stability of its multidimensional Markovian model by empolying a continuous Lyapunov function, and thus identify the stability region. We also study a delay performance through computer simulation th show the stability for any input rate below the maximum achievable channel throughput.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.4 no.3
• /
• pp.236-242
• /
• 2009

When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible robot arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Using the fact that matrix $\dot{D}$-2C is skew symmetric, new controllers which have a simplified structure with less computational burden is proposed. Lyapunov stability theory is applied to achieve a stable deterministic nonlinear controller for the regulation of joint angle.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.17 no.12
• /
• pp.1333-1342
• /
• 1992

This paper deals with a robot manipulator having actuator which is described by equation $D(q)\ddot{q}=u-P(q\;\dot{q},\;\ddot{q})$ where u(t) is a control input. We employ two steps of controller design procedures. First, a global linearization is performed to yield a decoupled controllable linear system. Then a controller is designed for this linear system. We provide a rigorous analysis of the effect of uncertainty of the dynamics, which we study using robustness results in time domain based on a Lyapunov equation and the total stability theorem. Using this approach we simulate the performance of controller of a robot manipulator.

• Journal of Advanced Navigation Technology
• /
• v.24 no.6
• /
• pp.607-612
• /
• 2020

In this paper, we deal with the stability of linear discrete systems with time-varying delays and unstructured uncertainty. Stability conditions are derived based on Lyapunov stability theory, and can include the effect of uncertainty. The unstructured uncertainty in the papaer which can not be figured out its exact characteristics and only can be expreesed by its magnitude is considered. Compared with the previous results on the stability, the new results can expand the applicable systems and alleviate the stability conditions which are more effective and powerful. The proposed stability condition is expressed in the form of an simple inequality, and includes the both effects of the uncertainties and time-varying delay. We present the results comparing the new stability condition with the existing results, and verify the effectiveness and the superiority of the proposed results through numerical example.

• Journal of Navigation and Port Research
• /
• v.31 no.6
• /
• pp.523-530
• /
• 2007

Crane systems are very important in industrial fields to carry heavy objects such that many investigations about control of the systems are actively conducted for enhancing its control performance. This paper presents an adaptive control approach using the model matching for a complex 3-DOF nonlinear crane system. First, the system model is linearized through feedback linearization method and then PD control is applied in the approximated model. This linear model is considered as nominal to derive corrective control law for a perturbed crane model using Lyapunov theory. This corrective control is primitively aimed to compensate real-time control deviation due to partially known perturbation. We additionally study stability analysis of the crane control system using Lyapunov perturbation theory. Evaluation of our control approach is numerically carried out through computer simulation and its superiority is demonstrated comparing with the classical control.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.12
• /
• pp.121-128
• /
• 2000

The scope of this paper is focused to the systems which have the time period and they should be necessarily studied in the sense of stability and design method of controller to stabilize the orignal unstable systems. In general, the time periodic systems or the systems having same motions during certain time interval are easily found in rotating motion device, i.e., satellite or helicopter and widely used in factory automation systems. The characteristics of the selected dynamic systems are analyzed with the new stability concept and stabilization control method based on Lyapunov direct method. The new method from Lyapunov stability criteria which satisfies the energy convergence is studied with linear algebraic method. And the numerical procedures are developed with computational programming method to apply to the practical linear periodic systems. The results from this paper demonstrate the usefulness in analysis of the asymptotic stability and stabilization of the unstable linear periodic system by using the developed simulation procedures.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.38 no.12
• /
• pp.983-994
• /
• 1989

This paper presents a new variable structure model following control algorithm for control of manipulators. The reference model is a simple double integrators and the acceleration input for the robot manipulator consists of a proportional and derivative controller for the purpose of trajectory tracking. The control algorithm is derived by using Lyapunov stability theory instead of S.S < O, as is usual in the current VSS controller design. This proposed control algorithm does not require good knowledge of the parameter in the inertia matrix and is easily extendable to robot manipulators with a higher number of links. Also, the new algorithm is computationally fast because of not requiring the matrix inversion. The computer simulation was carried out to evaluate the performance of the proposed VSMFC.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.7 s.178
• /
• pp.1689-1696
• /
• 2000

This paper proposes a new adaptive control scheme for flexible-link robots. A model-based nonlinear control scheme is designed based on a V-shape Lyapunov function, and then the nonlinear control i s extended to a model-based adaptive control to cope with parametric uncertainties in the dynamic model. The proposed control guarantees the global exponential or global asymptotic stability of the overall control system with all internal signals bounded. The effectiveness of the proposed control is shown by computer simulation.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.25 no.9
• /
• pp.1461-1467
• /
• 2001

This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.

• Journal of IKEEE
• /
• v.17 no.1
• /
• pp.83-88
• /
• 2013

This paper presents the output feedback control design for feedforward nonlinear systems with input and output delay. The proposed output feedback controller is composed of a linear observer and a linear controller. It is shown that by using Lyapunov-Krasovskii theorem, the proposed controller ensures a global asymptotic stability for arbitrarily large delay. Finally, an illustrative example is given in order to show the effectiveness of our design method.