• Journal of Ocean Engineering and Technology
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• v.25 no.5
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• pp.1-8
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• 2011

This paper proposes a controller design for an omnidirectional mobile platform (OMP) with three wheels using backstepping control. A kinematic model and dynamic model of the system are presented. Based on the dynamic modeling, a backstepping controller is designed to stabilize the OMP when following a desired path. The controller is designed based on a backstepping control theory. It includes two steps: first, a virtual state and a stability function are introduced. Second, Lyapunov functions for the system are chosen and an equation for the virtual control that makes the system stabile is obtained. The system stability is guaranteed by the Lyapunov stability theory. The simulation and experimental results are presented to demonstrate the effectiveness of the proposed controller.

• 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 Korean Data and Information Science Society
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• v.28 no.2
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• pp.371-381
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• 2017

There has never been research on Chaos analysis using real estate auction sale price rate in Korea. In this study, three Chaos analysis methodologies - Hurst exponent, correlation dimension, and maximum Lyapunov exponent - in order to capture the nonlinear deterministic dynamic system characteristics. High level of Hurst exponent and the extremely low maximum Lyapunov exponent provide the tendency and the persistence of the data. The empirical results give two meaningful facts. First, monthly time lags of the correlation dimension are coincident with the time period from the approval auction start day to the sale price fixing day. Second, its weekly time lags correspond to the time period from the last day of request for sale price allocation to the sale price fixing day. Then, this study potentially examines the predictability of the real estate auction price rate time series.

• Journal of Power Electronics
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• v.19 no.1
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• pp.89-98
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• 2019

This paper analyzes the input side performance of a conventional three-phase to single-phase matrix converter (3-1MC). It also presents the input-side waveform quality under this topology. The suppression of low-frequency input current harmonics is studied using the 3-1MC plus capacitance compensation unit. The constraint between the modulation function of the output and compensation sides is analyzed, and the relations among the voltage utilization ratio and the output compensation capacitance, filter capacitors and other system parameters are deduced. For a 3-1MC without large-capacity energy storage, the system performance is susceptible to input voltage imbalance. This paper decouples the inner current of the 3-1MC using a Lyapunov function in the input positive and negative sequence bi-coordinate axes. Meanwhile, the outer loop adopts a voltage-weighted synthesis of the output and compensation sides as a cascade of control objects. Experiments show that this strategy suppresses the low-frequency input current harmonics caused by input voltage imbalance, and ensures that the system maintains good static and dynamic performances under input-unbalanced conditions. At the same time, the parameter selection and debugging methods are simple.

• 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.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.1
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• pp.102-108
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• 2008

This paper presents robust and adaptive control method for complicated three dimensional crane systems with uncertain effect. We consider an overhead crane system in which a trolly located on its top is moved to x- and y-axis independently. We first approximate the complicated crane model through linearization approach to simply construct a PD control and then design an adaptive control system for compensating modeling error and control deviation which is feasibly occurred due to system perturbation in practice. An adaptive control scheme is analytically derived using Lyapunov stability theory for a given bound of system perturbation. We accomplish numerical simulation for evaluation of the proposed control system and demonstrate its superiority comparing with the traditional control strategy.

• Bulletin of the Korean Mathematical Society
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• v.51 no.2
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• pp.457-478
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• 2014

In this paper, a 3D autonomous system, which has only stable or non-hyperbolic equilibria but still generates chaos, is presented. This system is topologically non-equivalent to the original Lorenz system and all Lorenz-type systems. This motivates us to further study some of its dynamical behaviors, such as the local stability of equilibrium points, the Lyapunov exponent, the dissipativity, the chaotic waveform in time domain, the continuous frequency spectrum, the Poincar$\acute{e}$ map and the forming mechanism for compound structure of its special cases. Especially, with the help of the Project Method, its Hopf bifurcation of codimension one is in detailed formulated. Numerical simulation results not only examine the corresponding theoretical analytical results, but also show that this system possesses abundant and complex dynamical properties not solved theoretically, which need further attention.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.189-195
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• 2000

The mathematical solutions of the stability convergence are important problems in system control. In this paper such problems are analyzed and resolved for system control using multilayer neural networks. We describe an algorithm to control an unknown nonlinear system with a disturbance, using a multilayer neural network. We include a disturbance among the modeling error, and the weight update rules of multilayer neural network are derived to satisfy Lyapunov stability. The overall control system is based upon the feedback linearization method. The weights of the neural network used to approximate a nonlinear function are updated by rules derived in this paper . The proposed control algorithm is verified through computer simulation. That is as the weights of neural network are updated at every sampling time, we show that the output error become finite within a relatively short time.

• Journal of applied mathematics & informatics
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• v.35 no.3_4
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• pp.387-397
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• 2017

In order to react the dynamic behavior of the system more actually, it is necessary to solve the first problem of synchronization for Markovian jump complex network system in practical engineering problem. In this paper, the problem of local stochastic synchronization for Markovian nonlinear coupled neural network system is investigated, including nonlinear coupling terms and mode-dependent delays, that is less restriction to other system. By designing the Lyapunov-Krasovskii functional and applying less conservative inequality, we get a new criterion to ensure local synchronization in mean square for Markovian nonlinear coupled neural network system. The criterion introduced some free matrix variables, which are less conservative. The simulation confirmed the validity of the conclusion.

• Journal of Advanced Marine Engineering and Technology
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• v.20 no.2
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• pp.101-101
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• 1996

This paper presents the linearized fuzzy modeling technique of nonlinear dynamical system and the stability analysis of fuzzy control system. Firstly, the nonlinear system is partitionized by multiple linear fuzzy subcontrol systems based on fuzzy linguistic variables and fuzzy rules. Secondly, the disturbance adaptaion controllers which guarantee the global asymptotic stability of each fuzzy subsystem by an optimal feedback control law are designed and the stability analysis procedures of the total fuzzy control system using Lyapunov functions and eigenvalues are discussed in detail through a given illustrative example.