• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.271-278
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• 2005

In this paper, we present an adaptive observer for multi-output nonlinear systems that include unknown constant parameters and are not necessarily observable. Based on generalized nonlinear observer canonical form, new adaptive observer canonical form is proposed. Sufficient conditions are given for a nonlinear system to be transformed into the proposed adaptive observer canonical form. The existence of the proposed adaptive observer is given in terms of Lyapunov-like condition and SPR condition. An illustrative example is presented to show the design procedure of the proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2320-2322
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• 2001

This paper describes the design of a robust adaptive neural-net(NN) observer for uncertain nonlinear dynamical system. The Lyapunov synthesis approach is used to guarantee a uniform ultimate boundedness property of the state estimation error, as well as of all other signals in the closed-loop system. Especially, for reducing the dynamic oder of the observer, we propose a new method in which no strictly positive real(SPR) condition is needed with on-line estimation of weights of the NNs. No a priori knowledge of an upper bounds on the uncertain terms is required. The theoretical results are illustrated through a simulation example.

• 한국소음진동공학회논문집
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• 제14권7호
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• pp.619-625
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• 2004

Direct velocity feedback (DVFB) control is known that it offers an unconditional stability with very high performance when the control strategy is applied at a point collocated sensor and actuator pair. because the sensor-actuator pair has strictly positive real (SPR) property In this paper, two types of collocated sensor-actuator pairs are considered for practical active vibration control of a structure. They are a Point collocated sensor-actuator pair and a point sensor-distributed actuator pair. Both pairs with DVFB show robust stability and performance. It is noted that the collocated point sensor-actuator ultimately acts as a “skyhook” damper, hut the point sensor-distributed actuator pair with DVFB acts as a “skyhook” rotational damper pair.

• 대한수학회지
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• 제34권4호
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• pp.1029-1036
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• 1997

Let ${A_t)}_{t>0}$ be a dilation group given by $A_t = exp(-P log t)$, where P is a real $n \times n$ matrix whose eigenvalues has strictly positive real part. Let $\nu$ be the trace of P and $P^*$ denote the adjoint of pp. Suppose that $K$ is a function defined on $R^n$ such that $$\mid$K(x)$\mid$ \leq k($\mid$x$\mid$_Q)$ for a bounded and decreasing function $k(t) on R_+$ satisfying $k \diamond $\mid$\cdot$\mid$_Q \in \cup_{\varepsilon >0}L^1((1 + $\mid$x$\mid$)^\varepsilon dx)$ where $Q = \int_{0}^{\infty} exp(-tP^*) exp(-tP)$ dt and the norm $$\mid$\cdot$\mid$_Q$ stands for $$\mid$x$\mid$_Q = \sqrt{}, x \in R^n$. For $f \in L^1(R^n)$, define $mf(x) = sup_{t>0}$\mid$K_t * f(x)$\mid$$ where $K_t(X) = t^{-\nu}K(A_{1/t}^* x)$. Then we show that $m$ is a bounded operator of $L^1(R^n) into L^{1, \infty}(R^n)$.

• Journal of applied mathematics & informatics
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• 제32권1_2호
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• pp.285-295
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• 2014

In the setting of semidenite linear complementarity problems on $S^n$, we focus on the Stein Transformation $S_A(X)\;:=X-AXA^T$, and show that $S_A$ is (strictly) monotone if and only if ${\nu}_r(UAU^T{\circ}\;UAU^T)$(<)${\leq}1$, for all orthogonal matrices U where ${\circ}$ is the Hadamard product and ${\nu}_r$ is the real numerical radius. In particular, we show that if ${\rho}(A)$ < 1 and ${\nu}_r(UAU^T{\circ}\;UAU^T){\leq}1$, then SDLCP($S_A$, Q) has a unique solution for all $Q{\in}S^n$. In an attempt to characterize the GUS-property of a nonmonotone $S_A$, we give an instance of a nonnormal $2{\times}2$ matrix A such that SDLCP($S_A$, Q) has a unique solution for Q either a diagonal or a symmetric positive or negative semidenite matrix. We show that this particular $S_A$ has the $P^{\prime}_2$-property.

• 한국소음진동공학회논문집
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• 제14권3호
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• pp.253-263
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• 2004

The problem considered in this paper is about the collocation of sensor and actuator for the active control of sound and vibration. It is well-known that a point collocated sensor-actuator pair offers an unconditional stability with very high performance when it is used with a direct velocity feedback (DVFB) control, because the pair has strictly positive real (SPR) property. In order to utilize this SPR characteristics, a matched piezoelectric sensor and actuator pair is considered. but this pair suffers from the in-plane motion coupling problem with the out-of-plane motion due to the piezo sensor and actuator interaction. This coupling phnomenon limits the stability and performance of the matched pair with DVFBcontrol. As a new alternative, a point sensor and distributed piezoelectric actuator pair is also considered, which provides SPR property in all frequency range when the pair is implemented on a clamped-clapmed beam. The use of this sensor-actuator pair is highly expected for the applications to more practical active control of sound and vibration systems with the DVFB control strategy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1911-1916
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• 2005

In this study, the basic motor control system had been investigated. The Discrete-Time Feedback Error Learning (DTFEL) method is used to control this system. This method is anologous to the original continuous-time version Feedback Error Learning(FEL) control which is proposed as a control model of cerebellum in the field of computational neuroscience. The DTFEL controller consists of two main parts, a feedforward controller part and a feedback controller part. Each part will deals with different control problems. The feedback controller deals with robustness and stability, while the feedforward controller deals with response speed. The feedforward controller, used to solve the tracking control problem, is adaptable. To make such the tracking perfect, the adaptive law is designed so that the feedforward controller becomes an inverse system of the controlled plant. The novelty of FEL method lies in its use of feedback error as a teaching signal for learning the inverse model. The PD control theory is selected to be applied in the feedback part to guarantee the stability and solve the robust stabilization problems. The simulation of each individual part and the integrated one are taken to clarify the study.

• 한국소음진동공학회논문집
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• 제14권10호
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• pp.1007-1014
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• 2004

This paper presents a study of low frequencies volume velocity vibration control of a smart panel in order to reduce sound transmission. A distributed piezoelectric quadratically shaped polyvinylidene fluoride (PVDF) polymer film is used as a uniform force actuator and an array of $4\;{\times}\;4$ accelerometer is used as a volume velocity sensor for the implementation of a single-input single-output control system. The theoretical and experimental study of sensor-.actuator frequency response function shows that this sensor-actuator arrangement provides a required strictly positive real frequency response function below about 900 Hz. Direct velocity feedback could therefore be implemented with a limited gain which gives reductions of about 15 dB in vibration level and about 8 dB in acoustic power level at the (1,1) mode of the smart panel. It has been also shown that the shaping error of PVDF actuator could limit the stability and performance of the control system.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 춘계학술대회논문집
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• pp.368-373
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• 2003

This paper presents a study of low frequencies volume velocity vibration control of a smart panel in order to reduce sound transmission. A distributed piezoelectric quadratically shaped polyvinylidene fluoride (PVDF) polymer film is used as a uniform force actuator and an array of 4$\times$4 accelerometer is used as a volume velocity sensor for the implementation of a single-input single-output con rot system. The theoretical and experimental study of sensor-actuator frequency response function sho vs that this sensor-actuator arrangement provides a required strictly positive real frequency response function below about 900Hz. Direct velocity feedback could therefore be implemented with a limited gain which gives reductions of about 15㏈ in vibration level and about 8 ㏈ in acoustic power level at the (1, 1) mode of the smart Panel. It has been also shown that the shaping error of PVDF actuator could limit he stability and performance of the control system.

• 한국소음진동공학회논문집
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• 제18권11호
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• pp.1185-1191
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• 2008

This paper presents an approach to define an optimal piezoactuator length to actively control structural vibration. The optimal ratio of the piezoactuator length against the beam length when a pair of piezoceramic actuator and accelerometer is used to suppress unwanted vibration with direct velocity feedback(DVFB) control strategy is not clearly defined so far. It is well known that DVFB control can be very useful when a pair of sensor and actuator is collocated on structures with a high gain and excellent stability. It is considered that three different collocated Pairs of piezoelectric actuators (20, 50 and 100 mm long) and accelerometers installed on three identical clamped-clamped beams($30{\times}20{\times}1mm$). The response of each sensor-actuator pair requires strictly positive real(SPR) property to apply a high feedback gain. However the length of the piezoactuator affects the SPR property of the sensor-actuator response. Intensive simulation and experiment show the effect of the actuator length variation is strongly related with the frequency range of the SPR property. Thus an optimal length ratio was suggested to obtain relevant performance with a good stability under the DVFB strategy.