• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.2
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• pp.357-364
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• 2002

A new chattering free sliding made control is proposed for robot manipulators. The control input is derived from the reaching law and the Lyapunov stability criteria, which is only composed of continuous terms. It has a chattering free characteristics and a concise farm. In implementing procedures, no change of equations is needed. Thus, it does not degrade the original merits of the sliding mode control. And it is applied to a 2-link SCARA robot manipulator. It is shown that the proposed control has good trajectory tracking performance compared with the PD control and the conventional sliding mode control which uses the boundary layer concept.

• Bulletin of the Korean Mathematical Society
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• v.46 no.6
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• pp.1237-1248
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• 2009

The domain of attraction of a nonlinear differential equations is the region of initial points of solution tending to the equilibrium points of the systems as the time going. Determining the domain of attraction is one of the most important problems to investigate nonlinear dynamical systems. In this article, we first present two algorithms to determine the domain of attraction by using the moment matrices. In addition, as an application we consider a class of SIRS infection model and discuss asymptotical stability by Lyapunov method, and also estimate the domain of attraction by using the algorithms.

• 한국전산유체공학회:학술대회논문집
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• 2007.10a
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• pp.49-55
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• 2007

The quality of chaotic mixing in three-dimensional micro channel flow has been numerically studied using Fractional-step method (FSM) and particle tracking techniques such as $Poincar{\acute{e}}$ section and Lyapunov exponents. The flow was driven by pressure distribution and the chaotic mixing was generated by applying alternating current to electrodes embedded on the bottom wall at a first half period and on the top wall at a second half period. The equations governing the velocity and concentration distributions were solved using FSM based on Finite Volume approach. Results showed that the mixing quality depended significantly on the modulation period. The modulation period for the best mixing performance was determined based on the mixing index for various initial conditions of concentration distribution. The optimal values of modulation period obtained by the particle tracking techniques were compared with those from the solution of concentration distribution equation using FSM and CFX software and the comparison showed their good match.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.10a
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• pp.215-219
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• 1992

This paper presents a motion coordination of two robot manipulators coordinating an object. To coordinate the object, a force/position control scheme in a mode of leaer/follower is devised. The dynamics of the object are incorporated into the dynamics of the leader arm, which yields a reduced order model of two arm system. In order to regulate interaction forces between two arm, the dynamics of the follower arm are expressed as force dynamic equations such that a novel direct forces between two arms and two different type of bounded input disturbances, boundedness and asymptotic stability results based on a proposed Lyapunov function are shown. Also, a sufficient condition for a stability robustness is derived based on the Lyapunov approach.

• Bulletin of the Korean Mathematical Society
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• v.47 no.1
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• pp.89-102
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• 2010

This paper concerns the problem of global robust stability of a time-delay discontinuous system with a positive-defined connection matrix under polytopic-type uncertainty. In order to give the stability condition, we firstly address the existence of solution and equilibrium point based on the properties of M-matrix, Lyapunov-like approach and the theories of differential equations with discontinuous right-hand side as introduced by Filippov. Second, we give the delay-independent and delay-dependent stability condition in terms of linear matrix inequalities (LMIs), and based on Lyapunov function and the properties of the convex sets. One numerical example demonstrate the validity of the proposed criteria.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.265-270
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• 2001

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by using Lyapunov's direct method. The results of computer simulations also show that the robot system is stable, and has excellent trajectory tracking performance.

• Journal of Ocean Engineering and Technology
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• v.19 no.5 s.66
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• pp.58-64
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• 2005

In this paper, a feedback linearizing anti-sway control law, using a 2-D model for container cranes, is investigated. The equations of motion are first derived from Lagrange's equation. Then, by substituting the sway dynamics into the trolley dynamics, a reduction of variables from three (trolley, hoist, sway) to two (trolley, hoist) is pursued. The anti-sway control law is designed based on the Lyapunov stability theorem. The proposed control law guarantees the uniform asymptotic stability of the closed-loop system. The simulation results of the derived control law, using MATLAB/Simulink, are compared with those of the sliding mode control law, noted in previous literature. Also, experimental results using a 3-D pilot crane are provided.

• 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.

• Bulletin of the Korean Mathematical Society
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• v.58 no.3
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• pp.669-688
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• 2021

The aim of this paper is to prove the existence of an admissible inertial manifold for mild solutions to infinite delay evolution equation of the form $$\{{\frac{du}{dt}}+Au=F(t,\;u_t),\;t{\geq}s,\\\;u_s({\theta})={\phi}({\theta}),\;{\forall}{\theta}{\in}(-{{\infty}},\;0],\;s{\in}{\mathbb{R}},$$ where A is positive definite and self-adjoint with a discrete spectrum, the Lipschitz coefficient of the nonlinear part F may depend on time and belongs to some admissible function space defined on the whole line. The proof is based on the Lyapunov-Perron equation in combination with admissibility and duality estimates.

• 한국전산유체공학회:학술대회논문집
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• 2003.10a
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• pp.121-122
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• 2003

In this study a microchannel with various arrangement of blocks is newly proposed. This design comprises periodically arranged simple blocks. In this configuration, the stirring is greatly enhanced at a certain geometric parameter set. To characterize the flow field and the stirring effect both the numerical and experimental methods were employed. To obtain the velocity field, three-dimensional numerical computation to the Navier Stokes equations are performed by using a commercial code, FLUENT 6.0. The fluid-flow solutions are then cast into studying the characteristics of stirring with the aid of Lyapunov exponent. The numerical results show that the particles' trajectories in the microchannel heavily depend on the block arrangement. It was shown that the stirring is significantly enhanced at larger block-height and it reaches maximum when the height is 0.8 times the channel width. We also studied the effect of the block stagger angle, and it turns out that the stirring performance is the best at the block angel ${45^\circ}$.