• 전기학회논문지
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• 제61권10호
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• pp.1508-1512
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• 2012

This paper presents a relaxed stability condition for continuous-time affine fuzzy system using fuzzy Lyapunov function. In the previous studies, stability conditions for the affine fuzzy system based on quadratic Lyapunov function have a conservativeness. The stability condition is considered by using the fuzzy Lyapunov function, which has membership functions in the traditional Lyapunov function. Based on Lyapunov-stability theory, the stability condition for affine fuzzy system is derived and represented to linear matrix inequalities(LMIs). And slack matrix is added to stability condition for the relaxed stability condition. Finally, simulation example is given to illustrate the merits of the proposed method.

• 한국지진공학회논문집
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• 제5권3호
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• pp.73-78
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• 2001

본 논문은 Lyapunov 함수의 목표 변화율을 이용한 슬라이딩 모드 제어 기법을 제안한다. 슬라이딩 모드 제어는 구조물이 안정적인 거동을 하는 슬라이딩 표면을 정의하고 정의된 슬라이딩 표면에서 구조물이 거동하도록 만드는 제어기법으로 선형제어와 뱅뱅제어 등의 다망한 제어기 설계가 가능하다. 그러나, 기존 연구에서 선 형제어의 경우 Lyapunov 함수의 변화율이 음수라는 조건만 만족하도록 제어기 설계를 수행하여 제어기의 성능을 충분히 활용하지 못한다. 또한 제어기의 성능을 극대화하기 위해 사용하는 뱅뱅제어의 경우, 불필요하게 큰 제어력이 발생하는 문제점을 가지고 있다. 제안된 제어기법은 설계자에 의해 설정된 Lyapunov 함수의 목표 변화율을 달성함으로써 제어기의 성능을 효율적으로 활용할 수 있다. 수치해석결과, 제안된 제어기법은 기존의 선형제어보다 큰 최대응답감소의 효과를 가지며, 기존의 뱅뱅제어보다 적은 제어력을 가지고도 동등한 제어효과를 보인다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.403-404
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• 2011

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.43.1-43
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• 2001

We propose two control methods of the Lyapunov exponents for Jordan-type recurrent neural networks. Both the two methods are formulated by a gradient-based learning method. The first method is derived strictly from the definition of the Lyapunov exponents that are represented by the state transition of the recurrent networks. The first method can control the complete set of the exponents, called the Lyapunov spectrum, however, it is computationally expensive because of its inherent recursive way to calculate the changes of the network parameters. Also this recursive calculation causes an unstable control when, at least, one of the exponents is positive, such as the largest Lyapunov exponent in the recurrent networks with chaotic dynamics. To improve stability in the chaotic situation, we propose a non recursive formulation by approximating ...

• 대한전기학회논문지
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• 제39권11호
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• pp.1163-1173
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• 1990

In the stability analysis of a synchronous motor, the considerations of the initial conditions, that is, field application points and the determination techniques of stability regions to assure stable operations over four quadrants are very important. In this paper, Lyapunov stability regions obtained from a newly proposed algorithm with Lyapunov function of simple type on the basis of numerical analysis method are shown to be true stability regions which can accurately pull in within 2 (rad) after field application.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.420-420
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• 2000

In this paper, we propose an adaptive controller using RBFN(radial basis function network) for robot manipulators The structure of the proposed controller consists of a RBFN and VSC-1 ike control. RBFN is used in order to approximate かon system, and VSC-like control to guarantee robustness On the basis of the Lyapunov stability theorem, we guarantee the stability for the total system. And the learning law of RBFN is established by the Lyapunov method, Finally, we apply the proposed controller to tracking control for a 2 link SCARA type robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.334-334
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• 2000

In this paper, sliding mode observer design principles based on the equivalent control approach are discussed for the systems which may not satisfy the matching conditions. We propose a new approach for designing a sliding observer and the proof of the stability of the state reconstruction error system for time-invariant systems using the Lyapunov method. The reaching time to the sliding surface, the sliding dynamics of the system, the stability of the reconstruction error system via Lyapunov method, sufficient conditions for the existence of the sliding mode are studied.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.459-459
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• 2000

The purpose of this paper is the application of the techniques for the new estimation of robustness for the aircraft systems having structured uncertainties. The basic ideas to analyze the system which is the originally nonlinear is Lyapunov direct theorems. The nonlinear systems have various forms of terms inside the system equations and this investigation is confined in the form of bounded uncertainties. The number of uncertainties will be the degree of freedoms in the calculation of the robust stability regions called the robustness bounds. This proposition adopts the theoretical analysis of the Lyapunov direct methods, that is, the sign properties of the Lyapunov function derivative integrated along finite intervals of time, in place of the original method of the sign properties of the time derivative of the Lyapunov function itself. This is the new sufficient criteria to relax the stability condition and is used to generate techniques for the robust design of control systems with structured perturbations. Using this relaxing stability conditions, in this paper, the quadratic form of Lyapunov function is utilized. In this paper, the practical system of vertical take-off and landing (VTOL) aircraft is analyzed with the proposed stability criteria based upon the Lyapunov direct method. The application of numerical procedures can prove the improvements in estimations of robustness with structured uncertainties. The applicable aircraft system is assumed to be linear with time-varying with nonlinear bounded perturbations.

• 한국정밀공학회지
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• 제17권12호
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• pp.121-128
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• 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.

• 한국구조물진단유지관리공학회 논문집
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• 제14권4호
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• pp.55-61
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• 2010

본 논문에서는 구조적으로 유연한 특성을 갖는 교량 구조물을 대상으로 외력에 의해 발생되는 진동을 실시간으로 제어하고자 실험적 연구를 수행하였다. 여기서 진동제어를 위한 교량 구조물은 서해대교를 규모화 한 모형 교량 구조물을 사용하였고, 실험실 여건을 고려해 규모화 된 El-centro 지진파형으로 구조물을 가진하였다. 또한, 교량 상판 중앙지점에는 전자석이 채용된 전단형 MR 댐퍼를 설치하여 발생된 진동을 제어하도록 하였고, 동시에 변위계 및 가속도계를 설치하여 구조물의 응답(변위, 가속도)을 획득하였다. 이때 진동제어의 실험은 크게 비-제어, 수동 on/off 제어, 그리고 Lyapunov 안정도 이론에 의한 실시간 피드백 진동제어방법을 이용하여 수행하였고, 이때 진동제어의 효과는 상판 중앙지점에 대하여 비-제어 시 기준 각 실험방법 별 절대최대변위와 절대최대가속도 그리고, 인가전압의 소모량으로 평가하였다. 진동제어실험의 결과로부터, Lyapunov 제어방법은 구조물의 발생 변위 및 가속도를 효과적으로 감소시켰으며, 특히 진동제어 시 요구되는 외부 인가전압의 소비를 크게 감소시킬 수 있음을 확인하였다. 최종적으로, 본 논문에서 구성한 실시간 준능동 피드백 진동제어 시스템은 구조물에 발생된 진동을 제어 관리하기 위한 적극. 효율적인 방법으로 활용될 수 있는 가능성을 제시하였다.