• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.101-106
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• 1997

This paper proposes a stable adaptive neural network control(NNC) for fixable joint manipulators. For designing the stable adaptive NNC, the flexible system dynamics is separated into fast and slow subdynamics according to singular perturbation concept. For the slow subdynamics, an adaptive NNC is designed to warrant the system stability and NN learning by lyapunov stability criterion. And to stabilize the fast dynamics, derivative control loop is installed. Through numerical simulation, the performance of the proposed NNC was compared to that of an adaptive controller designed based on the knowledge of the system dynamics. The proposed NNC shows much improvement over the conventional adaptive controller.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.9
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• pp.50-59
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• 1997

This paper is on the generalized singular perturbation approximation (GSPA) preserving the discrete positive real property. We transform the discrete positive real(PR) system into a stochastically banlanced system and get the reduced order discrete system from the GSPA of the full order stochastically balanced system. eSPECIALLY, WHEN THE FREE PARAMETER OF THE gspa IS .+-.1, we show that the reduced order discrete system retains stability, minimality, and positive real and stochstically balancing properties. And we derived the .inf.-norm error bound with the reduced order discrete strictly positive real(SPR) system by the proposed method. Finally, we give an example to ascertain the properties of the proposed reduced order discrete system and to compare with the conventional methods.

• Journal of applied mathematics & informatics
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• v.29 no.3_4
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• pp.937-948
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• 2011

The method of Asymptotic Inner Boundary Condition for Singularly Perturbed Two-Point Boundary value Problems is presented. By using a terminal point, the original second order problem is divided in to two problems namely inner region and outer region problems. The original problem is replaced by an asymptotically equivalent first order problem and using the stretching transformation, the asymptotic inner condition in implicit form at the terminal point is determined from the reduced equation of the original second order problem. The modified inner region problem, using the transformation with implicit boundary conditions is solved and produces a condition for the outer region problem. We used Chawla's fourth order method to solve both the inner and outer region problems. The proposed method is iterative on the terminal point. Some numerical examples are solved to demonstrate the applicability of the method.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.353-353
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• 2000

To control a light weight flexible manipulator, a composite fuzzy controller is proposed. The controller is designed based on two time scaled models. A singular perturbation technique is applied for deriving the models. The proposed controller, however, does not use the complex equilibrium manifold equations, which are usually needed in the controller based on the two time scaled models. The controller for a slow sub-model and a fast sub-model are T-S type fuzzy controllers, which use 3 linguistic variables for each sub-model. A step trajectory is used in simulations as a reference trajectory of joint motions. The results of simulations with the proposed controller show excellent damping of flexible motions compared to a controller with derivative control of flexible motions.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.5
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• pp.117-125
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• 1995

An improved robust control law is proposed for uncertain rigid robots. The uncertainty is nonlinear and (possibly fast) time-varying. Therefore, the uncertain factors such as imperfect modeling, friction, payload change, and external disturbances are all addressed. Based on the possible bound of the uncertainty, the controller is constructed. For uncertain flexible-joint robots, some feedback control terms are then added to the proposed robust control law in order to stabilize the elastic vibrations at the joints. To show that the proposed control laws are indeed applicable, the stability study based on Lyapunov function, a singular perturbation approach, and simulation results are presented.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.32 no.2
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• pp.43-49
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• 1983

In this study, model simplification problem using singular perturbation technique is considered. The correctness and errors of simplified model which is obtained by the use of this technique, depends upon the order and the time scaling factor of the simplified model But, unfortunately, there is no explicit criteria for selections of these parameters. In this paper, error equations are derived and expanded by using the useful properties of $L_2$-norm. Then, new criteria for selecting the order of the simplified model and time scaling factor with respect to error bound are suggested. Since these criteria, newly proposed in this study, have strong concern about error bound, it can be used to choose the minimum order of the simplified model and time scaling factor with respect to given error bound. Conversely, if the order of the simplified model and time scaling factor are given, the error induced by the simplification can also be computed easily.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.4
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• pp.582-589
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• 1996

In this paper, an adaptive control problem of a hydraulic actuator for vehicle active suspension controller is divided into two parts: the inner loop controller and the outer loop controller. Inner loop controller, which is a nonlinear adaptive controller, is designed to control the force generated by the nonlinear hydraulic actuator acting under the effects of Coulomb friction. For simplicity of designing a nonlinear controller, the spool valve dynamics of a hydraulic actuator is reduced using a singular perturbation technique. The estimation error signal used to an indirect parameter adaptation is calculated without a regressor filtering. The absolute velocity of a sprung mass will be damped down by its negatively proportional term(sky-hook damper) adopted as an outer loop controller. Simulation results are presented to show the importance of controlling the actuator force and the validity of the proposed adaptive controller. (author). refs., figs. tab.

• Journal of the Korean Institute of Telematics and Electronics
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• v.23 no.1
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• pp.27-35
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• 1986

The optical wave interactions in a sinusoidally corrugated dielectric waveguide are analyzed for the oblique incidence case. The coupled mode equations which govern the interactions are derived by the singular perturbation method for the TE-TE mode coupling. The results are compared with those of normal mode analysis by Wagatsuma et al. and total field analysis by Stegeman et al. Phase mismatching effects on the diffraction efficiency are also investigated.

• Journal of Astronomy and Space Sciences
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• v.28 no.1
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• pp.37-54
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• 2011

Two semi-analytic solutions for a perturbed two-body problem known as Lagrange planetary equations (LPE) were compared to a numerical integration of the equation of motion with same perturbation force. To avoid the critical conditions inherited from the configuration of LPE, non-singular orbital elements (EOE) had been introduced. In this study, two types of orbital elements, classical Keplerian orbital elements (COE) and EOE were used for the solution of the LPE. The effectiveness of EOE and the discrepancy between EOE and COE were investigated by using several near critical conditions. The near one revolution, one day, and seven days evolutions of each orbital element described in LPE with COE and EOE were analyzed by comparing it with the directly converted orbital elements from the numerically integrated state vector in Cartesian coordinate. As a result, LPE with EOE has an advantage in long term calculation over LPE with COE in case of relatively small eccentricity.

• Journal of Korea Society of Digital Industry and Information Management
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• v.8 no.4
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• pp.115-120
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• 2012

In multi-user multi-input multi-output (MU-MIMO) system, zero forcing beamforming (ZFB) is regarded as a realistic solution for transmitting scheme due to its low complexity and simple structure. However, ZFB shows a significant performance degradation when channel matrix has large condition number. In this case, the largest singular value of the channel inversion matrix has a dominant effect on transmit power. In this paper, we propose a perturbation method for reducing an effect of the dominant singular value. In the proposed algorithm, channel inverse matrix is first decomposed by SVD for the transmit signal to be expressed as a combination of singular vectors. Then, the transmit signal is perturbed to reduce the coefficient of the singular vector corresponding to the largest singular value. When a number of transmit antennas is 4, the simulation results of this paper shows that the proposed method shows 8dB performance enhancement at 10-3 uncoded bit error rate (BER) compared with conventional ZFB. Also, the simulation results show that the proposed method provides a comparable performance to Tomlinson-Harashima Precoding (THP) with much lower complexity.