• 제목/요약/키워드: Lyapunov stability Analysis

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슬라이딩 모드 제어와 스위칭 기법에 기반한 수상함의 경로 추종 제어기 설계 (Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law)

  • 이준구
    • 한국군사과학기술학회지
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    • 제20권1호
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    • pp.108-118
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    • 2017
  • In this paper, the path tracking controller for a surface vessel based on the sliding mode control (SMC) with the switching law is proposed. In order to have no restriction on movement and improved tracking performance, the proposed control system is developed as follows: First, the kinematic and dynamic models in Cartesian coordinates are considered to solve the singularity problem at the origin. Second, the new multiple sliding surfaces are designed with the SMC and approach angle concept to solve the under-actuated property. Third, the switching control system is designed to improve tracking performance. To prove the stability of the proposed switching system under the arbitrary switching, the Lyapunov stability analysis method with the common Lyapunov function is used. Finally, the computer simulations are performed to demonstrate the performance, effectiveness and stability of the proposed tracking controller of a surface vessel.

적응 퍼지 슬라이딩 모드 제어기설계를 위한 새로운 해석 (An Analysis of Adaptive Fuzzy Sliding Mode Controller of Nonlinear System)

  • 공형식;황은주;박민용
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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    • pp.161-163
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    • 2005
  • This paper is concerned with an Adaptive Fuzzy Sliding Mode Control(AFSMC) that the fuzzy systems are used to approximate the unknown functions of nonlinear system. In the adaptive fuzzy system. we adopt the adaptive law to approximate the dynamics of the nonlinear plant and to adjust the parameters of AFSMC. The stability of the suggested control system is proved via Lyapunov stability theorem. and convergence and robustness properties are demonstrated. The simulation results demonstrate that the performance is improved and the system also exhibits stability.

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A FORCE/POSITION CONTROL FOR TWO-ARM MOTION COORDINATION AND STABILITY ROBUSTNESS ANALYSIS

  • 최형식
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1992년도 추계학술대회 논문집
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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.

이산 및 분산 시변 지연을 가진 뉴럴 네트워크에 대한 새로운 시간지연 종속 안정성 판별법 (New Delay-dependent Stability Criterion for Neural Networks with Discrete and Distributed Time-varying Delays)

  • 박명진;권오민;박주현;이상문
    • 전기학회논문지
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    • 제58권9호
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    • pp.1809-1814
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    • 2009
  • In this paper, the problem of stability analysis for neural networks with discrete and distributed time-varying delays is considered. By constructing a new Lyapunov functional, a new delay-dependent stability criterion for the network is established in terms of LMIs (linear matrix inequalities) which can be easily solved by various convex optimization algorithms. Two numerical example are included to show the effectiveness of proposed criterion.

반복 학습을 통한 무인 선박의 제어기 설계에 관한 연구 (A Study on the Controller Design of Unmanned Surface Vessel through Repetitive Learning Method)

  • 김민철
    • 한국군사과학기술학회지
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    • 제21권6호
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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.

BIFURCATIONS OF STOCHASTIC IZHIKEVICH-FITZHUGH MODEL

  • Nia, Mehdi Fatehi;Mirzavand, Elaheh
    • 호남수학학술지
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    • 제44권3호
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    • pp.402-418
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    • 2022
  • Noise is a fundamental factor to increased validity and regularity of spike propagation and neuronal firing in the nervous system. In this paper, we examine the stochastic version of the Izhikevich-FitzHugh neuron dynamical model. This approach is based on techniques presented by Luo and Guo, which provide a general framework for the bifurcation and stability analysis of two dimensional stochastic dynamical system as an Itô averaging diffusion system. By using largest lyapunov exponent, local and global stability of the stochastic system at the equilibrium point are investigated. We focus on the two kinds of stochastic bifurcations: the P-bifurcation and the D-bifurcations. By use of polar coordinate, Taylor expansion and stochastic averaging method, it is shown that there exists choices of diffusion and drift parameters such that these bifurcations occurs. Finally, numerical simulations in various viewpoints, including phase portrait, evolution in time and probability density, are presented to show the effects of the diffusion and drift coefficients that illustrate our theoretical results.

시간 지연을 포함한 네트워크 시스템의 안정도 분석 (Stability Analysis of Network Systems with Time delay)

  • 김재만;최윤호;박진배
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2007년도 제38회 하계학술대회
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    • pp.1674-1675
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    • 2007
  • This paper presents a stability analysis of network systems with time delay. Time delay problem frequently occurs in network systems. Since it makes network systems unstable and unpredictable, an optimal controller is necessary to network systems. We prove the asymptotical stability of time delayed network systems using LMI optimization method and appropriate Lyapunov-Krasovskii functionals. Simulations show the effectiveness of the method.

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Satellite Attitude Control with a Modified Iterative Learning Law for the Decrease in the Effectiveness of the Actuator

  • Lee, Ho-Jin;Kim, You-Dan;Kim, Hee-Seob
    • International Journal of Aeronautical and Space Sciences
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    • 제11권2호
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    • pp.87-97
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    • 2010
  • A fault tolerant satellite attitude control scheme with a modified iterative learning law is proposed for dealing with actuator faults. The actuator fault is modeled to reflect the degradation of actuation effectiveness, and the solar array-induced disturbance is considered as an external disturbance. To estimate the magnitudes of the actuator fault and the external disturbance, a modified iterative learning law using only the information associated with the state error is applied. Stability analysis is performed to obtain the gain matrices of the modified iterative learning law using the Lyapunov theorem. The proposed fault tolerant control scheme is applied to the rest-to-rest maneuver of a large satellite system, and numerical simulations are performed to verify the performance of the proposed scheme.

DSPs(TMS320C80)을 이용한 로봇 매니퓰레이터의 지능제어 (Intelligent Control of Robot Manipulator Using DSPs(TMS320C80))

  • 이우송;김용태;한성현
    • 한국공작기계학회:학술대회논문집
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    • 한국공작기계학회 2003년도 추계학술대회
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    • pp.219-226
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    • 2003
  • In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator. Unlike the well-established theory fir the adaptive control of linear systems, there exists relatively little general theory fir the adaptive control of nonlinear systems. Adaptive control technique is essential fir providing a stable and robust performance fir application of robot control. The proposed neuro control algorithm is one of teaming a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuro control scheme is proved to be a efficient control technique f3r real-time control of robot system using DSPs.

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TMS320C50칩을 이용한 로봇 매니퓰레이터의 적응-신경제어 (The Adaptive-Neuro Control of Robot Manipulator Based-on TMS320C50 Chip)

  • 이우송;김용태;한성현
    • 한국공작기계학회:학술대회논문집
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    • 한국공작기계학회 2003년도 춘계학술대회 논문집
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    • pp.305-311
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    • 2003
  • We propose a new technique of adaptive-neuro controller design to implement real-time control of robot manipulator, Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of loaming a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuro control scheme is proved to be a efficient control technique for real time control of robot system using DSPs(TMS320C50)

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