• 전자공학회논문지S
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• 제34S권7호
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• pp.48-55
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• 1997

An adaptive output feedback controller is designed for tracking control of an n-link robot manipulator with unknown load. High-gain obwserver that is used to estimate joint velocities is designed to avoide the restriction of the allowable variation range of unknown parmeters as well as improve the state estimation error. We saturate the control inut outside a domain of interest and use an adaptive law with a parameter projection feature to guarantee boundedness of all the trajectories in the closed-loop system. Simulation resutls on a 2-link manipulator illustrate that when the speed of the high-gain observer is sufficiently high, the proposed controller recovers the performance under state feedback control.

• 대한수학회보
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• 제51권2호
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• pp.423-435
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• 2014

In this paper, the fractional Hardy-type operator of variable order ${\beta}(x)$ is shown to be bounded from the Herz-Morrey spaces $M\dot{K}^{{\alpha},{\lambda}}_{p_1,q_1({\cdot})}(\mathbb{R}^n)$ with variable exponent $q_1(x)$ into the weighted space $M\dot{K}^{{\alpha},{\lambda}}_{p_2,q_2({\cdot})}(\mathbb{R}^n,{\omega})$, where ${\omega}=(1+|x|)^{-{\gamma}(x)}$ with some ${\gamma}(x)$ > 0 and $1/q_1(x)-1/q_2(x)={\beta}(x)/n$ when $q_1(x)$ is not necessarily constant at infinity. It is assumed that the exponent $q_1(x)$ satisfies the logarithmic continuity condition both locally and at infinity that 1 < $q_1({\infty}){\leq}q_1(x){\leq}(q_1)+$ < ${\infty}(x{\in}\mathbb{R}^n)$.

• 대한수학회지
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• 제57권1호
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• pp.215-247
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• 2020

In this paper, we deal with a two-species chemotaxis-Stokes system with Lotka-Volterra competitive kinetics under homogeneous Neumann boundary conditions in a general three-dimensional bounded domain with smooth boundary. Under appropriate regularity assumptions on the initial data, by some L^p-estimate techniques, we show that the system possesses at least one global and bounded weak solution, in addition to discussing the asymptotic behavior of the solutions. Our results generalizes and improves partial previously known ones.

• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.428-432
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• 2010

In this paper, an adaptive formation control based on the leader-following approach is proposed for multiple mobile robots with time varying parameters. The proposed controller does not require the velocity information of the leader robot, which is commonly assumed that it is either measured or telecommunicated. In order to estimate time varying velocities of the leader robot, the smooth projection algorithm is employed. From the Lyapunov stability theory, it is proved that the proposed control scheme can guarantee the uniform ultimate boundedness of error signals of the closed-loop system. Finally, the computer simulations are performed to demonstrate the performance of the proposed control system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.37.2-37
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• 2001

This paper addresses the robust adaptive output feedback tracking for nonlinear systems under disturbances whose bounds are unknown. A new algorithm is proposed for estimation of unknown bounds and adaptive control of the uncertain nonlinear systems. The State estimation is solved using K-filters, together with the construction of a bound of an error in the state estimation due to the perturbation of the disturbance. Tuning functions are used to estimate unknown system parameters without overparametrization. The proposed control algorithm ensures that the out put tracking error converges to a residual set which can be arbitrarily small, while maintaining the boundedness of all other variables. A simulation shows the effectiveness of the proposed approach

• 전자공학회논문지
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• 제52권5호
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• pp.214-221
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• 2015

본 논문에서는 측정 잡음에 의해서 출력 신호가 왜곡된 이산 시간 선형 스위치드 시스템의 스위칭 신호와 상태 변수를 관측하기 위한 강인한 추정 및 검출 기법을 제시한다. 첫째, 최소 거리 기준에 기초한 작동 모드 추정 알고리즘이 제안된다. 이 과정에서 모드의 추정값을 얻게 되고, 이를 이용하여 상태 변수 또한 관측할 수 있게 된다. 둘째, 주어진 스위치드 시스템의 작동 모드 변화 시점, 즉, 스위칭이 언제 발생하는지 검출하는 알고리즘이 고안된다. 시스템에 인가되는 측정 잡음이 유계라는 가정 하에, 제안된 추정 알고리즘은 주어진 스위치드 시스템의 작동 모드를 정확하게, 그리고 상태 변수를 근사적으로 추정하며, 검출 알고리즘은 실제 스위칭이 발생한 후, 미리 정해진 지연 시간이 지나가기 전에 스위칭 시간을 검출할 수 있다.