• Journal of Institute of Control, Robotics and Systems
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• v.8 no.4
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• pp.313-318
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• 2002

A robust attitude controller using Lyapunov redesign technique for spacecraft is proposed. In this controller, qua- ternion feedback is considered to have the attitude maneuver capability very close to the eigen-axis rotation. The controller consists of three parts: the nominal feedback parts which is a PD-type controller for the nominal system without uncertainties, the additional term compensating for the gyroscopic motion, and the third part for ensuring robustness to uncertainties. Lyapunov stability criteria is applied to stability analysis. The performance of the proposed controller is demonstrated via computer simulation.

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

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.898-902
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• 2003

For linear descriptor systems, we consider the $H_{INFTY}$ controller design problem via output feedback. Both static output feedback and dynamic one are discussed. First, in the case of static output feedback, we reduce our control problem to solving a bilinear matrix inequality (BMI) with respect to the controller coefficient matrix, a Lyapunov matrix and a matrix related to the descriptor matrix. Under a matching condition between the descriptor matrix and the measured output matrix (or the control input matrix), we propose setting the Lyapunov matrix in the BMI as being block diagonal appropriately so that the BMI is reduced to LMIs. For fixed-order dynamic $H_{INFTY}$ output feedback, we formulate the control problem equivalently as the one of static output feedback design, and thus the same approach can be applied.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.685-689
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• 2005

In this paper, we consider a robust output feedback model predictive controller(MPC) design for Wiener model. Nonlinearities that couldn't be represented in static nonlinearity block of Wiener model are regarded as uncertainties in linear block. An dynamic output feedback controller design method is presented for Wiener MPC. According to MPC algorithm, the control law is computed based on linear matrix inequality(LMI)at each sampling time by solving convex optimization. Also, a new parameter dependent Lyapunov function is proposed to get a less conservative condition. The results are illustrated with numerical example.

• Proceedings of the KIEE Conference
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• 1998.07c
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• pp.973-975
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• 1998

For a nonlinear feedback linearization-full order observer/sliding mode controller (NFL-FOO/SMC), the separation principle is derived, and the closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

• Proceedings of the KIEE Conference
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• 1998.07c
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• pp.985-987
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• 1998

This paper presents a stability proof for the nonlinear feedback linearization-full order observer-based sliding mode controller (NFL-FOO-based SMC). The closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

• Proceedings of the KIEE Conference
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• 1998.07c
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• pp.976-978
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• 1998

This paper presents the stability proof of a nonlinear feedback linearization-reduced order observer/sliding mode controller (NFL-ROO/SMC). The closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

• Proceedings of the KIEE Conference
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• 1998.07c
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• pp.979-981
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• 1998

This paper presents a stability proof for the nonlinear feedback linearization-observer/sliding mode model following controller (NFL-O/SMMFC). The separation principle is derived, and the closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

• Proceedings of the KIEE Conference
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• 1998.07c
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• pp.988-990
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• 1998

This paper presents the stability proof of a nonlinear feedback linearization-reduced order observer-based sliding mode controller (NFL-ROO-based SMC). The closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

• Proceedings of the KIEE Conference
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• 1998.07c
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• pp.991-993
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• 1998

This paper presents a stability proof for the nonlinear feedback linearization-observer-based sliding mode model following controller (NFL-O-based SMMFC). The closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.