• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2654-2659
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• 2003

In this paper, we present biomimetic hopping strategy which is more human-like for legged robot through stiffness modulation. Stiffness value is calculated from the motion of body center of gravity. This method enable to reduce impact force on touch-down, adaption on ground stiffness change and height modulation. Simple selected models will be used to validate this method. For general model, singular perturbation is used for control and simulation using stiffness modulation is presented.

• 한국수학교육학회지시리즈B:순수및응용수학
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• 제9권1호
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• pp.19-30
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• 2002

We consider one class of bursting oscillation models, that is square-wave burster. One of the interesting features of these models is that periodic bursting solution need not to be unique or stable for arbitrarily small values of a singular perturbation parameter $\epsilon$. Recent results show that the bursting solution is uniquely determined and stable for most of the ranges of the small parameter $\epsilon$. In this paper, we present a condition of uniqueness and stability of periodic bursting solutions for all sufficiently small values of $\epsilon$ > 0.

• 수산해양기술연구
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• 제32권1호
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• pp.59-66
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• 1996

This paper considers robust stability and transient behavior of the Two - Degree - of - Freedom(2DOF) servosystem. A class of uncertainties allowed in the plant model is obtained, to which the servosystem is robustly stable for any gain of the integral compensator. This result implies that if the plant uncertainty is the allowable set defined by the condition, a high - gain compensation can be carried out preserving stability to achieve a high - speed tracking response. The transient behavior attainable by the limit of the high - gain compensation is calculated using the singular perturbation approach.

• 대한수학회지
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• 제39권4호
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• pp.559-577
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• 2002

It is known that the analytic operator-valued Feynman integral exists for some "potentials" which we so singular that they must be given by measures rather than by functions. Corresponding stability results involving monotonicity assumptions have been established by the author and others. Here in our main theorem we prove further stability theorem without monotonicity requirements.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.113.5-113
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• 2001

In this work, we consider the flexible manipulator system. Generally, the manipulator system may often be made on the base of the imperfect modeling, joint friction, payload change, and external disturbances. These elements are uncertain factors. These uncertainties and flexibility make difficult to control the system. To overcome these defects, a class of robust control law is proposed for the flexible manipulator system and the singular perturbation approach is applied. To show the effectiveness of this control law, simulation is presented for one degree of freedom flexible joint and flexible link system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.687-693
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• 1989

A robust deterministic control for a class of singularly perturbed uncertain systems, where uncertainties are characterized deterministically rather than stochastically, is developed based mainly on information available on an uncertain reduced-order system. The deterministic control scheme is applied to the motion control of a n degree of freedom robotic manipulator. The parasitic actuator and sensor dynamics of the manipulator are explicitly considered in the stability analysis of the deterministic controller using a singular perturbation model. Simulation and experimental studies for a two degree of freedom, direct drive SCARA manipulator are conducted to evaluate the effectiveness of the derived control scheme.

• 대한수학회지
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• 제42권4호
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• pp.827-845
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• 2005

In this paper, we present a general method for the stability analysis of some bursting models. Our method is geometric in the sense that we consider a flow-defined return map defined on a section and determine when the map is a contraction. We find that there are three different stability types in the codimension-1 planar bursters.

• Journal of applied mathematics & informatics
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• 제27권3_4호
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• pp.517-529
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• 2009

In this paper, a singularly perturbed reaction-convection-diffusion problem with two parameters is considered. A parameter-uniform error bound for the numerical derivative is derived. The numerical method considered here is a standard finite difference scheme on piecewise-uniform Shishkin mesh, which is fitted to both boundary and initial layers. Numerical results are provided to illustrate the theoretical results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.12-12
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• 2000

This paper consider a new weighted model reduction using block diagonal solutions of Lyapunov inequalities. With the input and/or output weighting function, the stability of reduced order system is quaranteed and a priori error bound is proposed. to achieve this, after finding the solutions of two Lyapunov inequalities and balancing the full order system, we find the reduced order systems using the direct truncation and the singular perturbation approximation. The proposed method is compared with other existing methods using numerical example.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.256-261
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• 1995

To improve the performance of the robots they must be built ever lighter, which will lead to flexibility of the links. The full order of the flexible link manipulator dynamic system does not allow the determination of a feedback linearization control as for flexible link manipulator regard low mode. In this paper, this drawback is overcome by LQG/LTR controller which is designed bya corrected reduced modle based on the singular perturbation method.