• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.6
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• pp.850-856
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• 2018

In this paper, a controller based on repetitive learning control is designed to control an unmanned surface vessel with nonlinear characteristics and unknown parameters. First, we define the equations of motion and error system of the unmanned vessel, and then design an repetitive learning controller composed of system error and estimated unknown parameters based on repetitive learning control and adaptive control. The stability of the unmanned vessel model controlled by the designed controller is verified through the analysis of the Lyapunov stability. Simulation shows that the error converges asymptotically to zero with semi-global result, confirming that the unmanned vessel is moving toward a given ideal path, and verifies that the controller is also feasible.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.4
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• pp.66-72
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• 2021

Since the behavior of an autonomous underwater vehicle (AUV) is influenced by disturbances and moments that are not accurately known, the depth control law of AUVs must have the ability to track the input signal and to reject disturbances simultaneously. Here, we proposed robust tracking control for controlling the depth of an AUV. An augmented closed-loop system is represented by an error dynamic equation, and we can easily show the asymptotic stability of the overall system by using a Lyapunov function. The robust tracking controller is consisted of the internal model of the command signal and a state feedback controller, and it has the ability to track the input signal and reject disturbances. The closed-loop control system is robust to parameter uncertainties. Simulation results showed the control performance of the robust tracking controller to be better than that of a P + PD controller.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.73-81
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• 1997

An new class of robust position/force hybrid control law is proposed for uncertain robot manipulators. The uncertainty is nonlinear and (plssibly fast) time-varying. Therefore, the uncertain factors such as imper- fect modeling, friction, payload change, and external disturbance are all addressed. Based on the possible bound of the uncertainty, the controller is constructed and the stability study based on Lyapunov function is presented. To show that the proposed control laws are indeed applicable, the theoretical result is applied to a SCARA-type robot manipulator and simulation result is presented.

• Proceedings of the KIEE Conference
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• summer
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• pp.242-244
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• 2004

본 논문에서는 전력계통에서 에너지 함수를 이용하여 탭의 영향이 고려된 전압안정도 해석방법을 제시하였다. 전력계통의 전압안정도 해석은 부하단 변압기 탭의 특성과 밀접하게 연관되어 있으며 역학적 등가모델(EMM)을 이용하여 탭의 영향을 고려한 새로운 에너지함수를 유도하였다. 이 에너지 함수는 Lyapunov 함수의 조건을 만족시키며, 유도된 에너지함수로부터 안정평형점과 불안정평형점을 구하여 두 점에서의 에너지의 차이로서 전압붕괴를 예측할 수 있음을 1기 무한대 모선에 대하여 검증해 보았다.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1654-1655
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• 2007

본 논문은 시간 변동 시간 지연을 가지는 불확실한 선형 뉴트럴 시스템에 관한 관측기 설계에 대해서 논의한다. Lyapunov-Krasovskii의 이론을 이용하여 불확실한 시간 지연을 가지는 시스템의 안정도를 판별한다. 뉴트럴 시스템의 안정도 조건을 시간 변동 시간 지연에 종속적인 충분조건으로 제시한다. 선형 행렬 부등식을 이용하여 안정도 조건을 제시하고, 선형 행렬 부등식의 해를 이용하여 관측기의 이득값을 설계한다. 설계된 관측기의 이득값을 포함한 오차 상태 방정식의 안정도를 판별한다. 예제를 통하여 논문의 결과를 입증하였다.

• Journal of Advanced Navigation Technology
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• v.17 no.6
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• pp.679-686
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• 2013

In this paper, the new stability conditions for discrete systems with time-varying delay time are proposed by Lyapuniv theory for the stability analysis of NCS(Networked Control System) having data communication. The proposed stability conditions are very simple and easily calculated compared to the previous conditions having complex numerical calculations. The proposed results can include several previous works on the same issue. From the simulation results, the proposed conditions show the better performance and less conservative on checking stability compared with previous results.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.441-447
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• 2012

This paper presents a design technique of a Takagi-Sugeno (T-S) fuzzy-model-based $H_{\infty}$ controller for autonomous underwater vehicles (AUVs). The design procedure aims to render the stabilizing controller which satisfies performance of the diving control for AUVs in the presence of the disturbance. A nonlinear AUV is modeled by the T-S fuzzy system through the sector nonlinearity. By using Lyapunov function, the sufficient conditions are derived to guarantee the performance of robust depth control in the format of linear matrix inequality (LMI). To succeed for diving control of AUV, we add the constraints on the diving and pitch angles in the LMI conditions. Through the simulation, we confirm the effectiveness of the proposed methodology.

• Journal of Korean Society of Transportation
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• v.25 no.4
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• pp.99-108
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• 2007

This paper presents an elastic demand stochastic user equilibrium traffic assignment that could not be easily tackled. The elastic demand coupled with a travel performance function is known to converge to a supply-demand equilibrium, where a stochastic user equilibrium (SUE) is obtained. SUE is the state in which all equivalent path costs are equal, and thus no user can reduce his perceived travel cost. The elastic demand SUE traffic assignment can be formulated based on a dynamic system, which is a means of describing how one state develops into another state over the course of time. Traditionally it has been used for control engineering, but it is also useful for transportation problems in that it can describe time-variant traffic movements. Through the Lyapunov Function Theorem, the author proves that the model has a stable solution and confirms it with a numerical example.

• Journal of the Korea Society of Computer and Information
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• v.18 no.6
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• pp.9-19
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• 2013

This paper deals with fuzzy $H_{\infty}$ filtering problem of discrete-time nonlinear Markovian jump systems with state and output time delays. The purpose is to design fuzzy $H_{\infty}$ filter such that the corresponding estimation error system with time delays and initial state uncertainties is stochastically stable and satisfies an $H_{\infty}$ performance level. A sufficient condition for the existence of fuzzy $H_{\infty}$ filter is given in terms of matrix inequalities. In order to relax conservatism, a stochastic mode dependent fuzzy Lyapunov function is employed. The Lyapunov function not only is dependent on the operation modes of system, but also includes the fuzzy membership functions. An illustrative example is finally given to show the applicability and effectiveness of the proposed method.

• Journal of the Korea institute for structural maintenance and inspection
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• v.15 no.1
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• pp.85-94
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• 2011

This paper is concerned to constitute a semi-active realtime feedback vibration control system and evaluate it through experiments in order to control in realtime the vibration externally generated, specially on the bridges which is structurally flexible. For the experiment of vibration control, we built a model bridge structure of Seohae Grand Bridge in a 1/200 reduced form and inflicted El-centro wave on the model structure also in a reduced force considering the lab condition. The externally excited vibration was to be controled by placing a shear type MR damper vertically on the center of bridge span, and the response (displacement and acceleration) of structure was to be acquired by placing LVDT and Accelerometer at the same time. As for the experiment concerning controlling vibration, a realtime feedback vibration control experiments were performed under each different condition largely such as un-control, passive on/off control, Lyapunov stability theory control, and Clipped-optimal control. Its control performance under different condition was quantitatively evaluated in terms of the peak absolute displacements, the peak absolute accelerations and the power required for control on the center of span. The results of experiments proved that the Lyapunov control and clipped-iptimal control were effective to decrease the displacement and acceleration of the structure, and also to decrease the power consumption to a great extent. Finally, the semi-active realtime feedback vibration control system constituted in this research was proven to be an effective way to control and manage the vibration generated on bridge structure.