• 제목/요약/키워드: lyapunov function

검색결과 494건 처리시간 0.024초

조정가능한 파라미터를 가지는 $H^{\infty}$출력궤환 제어기를 이용한 자승적 안정화 (Quadratic Stabilization by $H^{\infty}$ Output Feedback Controllers with Adjustable Parameters)

  • 강성규;이갑래;박홍배
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.101-104
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    • 1997
  • In this paper, we deal with a quadratic stabilization by $H^{\infty}$ output feedback controllers with adjustable parameters. The designed controller contains a contractive time-varying gain which can be used to adjust the responses of the resulting closed-loop system. The free parameter expressed as time-varying gain is chosen so that a Lyapunov function of the closed-loop system descends as fast as possible. A numerical example is given to show the validity of proposed method..

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GLOBAL ASYMPTOTIC STABILITY FOR A DIFFUSION LOTKA-VOLTERRA COMPETITION SYSTEM WITH TIME DELAYS

  • Zhang, Jia-Fang;Zhang, Ping-An
    • 대한수학회보
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    • 제49권6호
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    • pp.1255-1262
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    • 2012
  • A type of delayed Lotka-Volterra competition reaction-diffusion system is considered. By constructing a new Lyapunov function, we prove that the unique positive steady-state solution is globally asymptotically stable when interspecies competition is weaker than intraspecies competition. Moreover, we show that the stability property does not depend on the diffusion coefficients and time delays.

퍼지 로직 동조기를 이용한 PID 제어기의 이득 조정 (Tuning gains of a PID controller using fuzzy logic-based tuners)

  • 이명원;권순학;이달해
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.184-187
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    • 1996
  • In this paper, an algorithm for tuning gains of a PID controller is proposed. The proposed algorithm is composed of two stages. The first is a stage for Lyapunov function-based initial stabilization of an overall system and rough tuning gains of the PID controller. The other is that for fine tuning gains of the PID controller. All tunings are performed by using the well-known fuzzy logic-based tuner. The computer simulations are performed to show the validity of the proposed algorithm and results are presented.

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분리최적화 기법을 이용한 강인제어기 설계 (Robust compensator design for parametric uncertain systems by separated optimizations)

  • 김경수;박영진
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.589-592
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    • 1996
  • It is well known that robust compensators designed by the block-diagonal Lyapunov function approaches are conservative while they are popular in practice because of their computational easiness. In this note, we develop a systematized version of conventional block-diagonal Lyapunov function approaches by deriving two separated optimizations based on the guaranteed cost control method. The proposed method generates reasonable robust compensators in practice.

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회전변위 제약을 갖는 회진형 도립진자의 스윙업 제어 (Swing up Control for a rotary pendulum with restricted rotation range)

  • 오장진;이영삼
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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    • pp.133-134
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    • 2007
  • A swing-up control strategy is suggested for a rotary inverted pendulum with restricted rotation range. In order to take the rotation range limitation into account, a new Lyapunov function used for energy-based control is proposed a control strategy is derived from the Lyapunov function. Futhermore, optimization-base parameter estimation is adopted to get an exact mathematical model for the pendulum. Simulation results show that the proposed control strategy swings up the rotary inverted pendulum efficiently.

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NFL-FOO/SMC의 안정도 증명 : Part 1 (Stability Proof of NFL-FOO/SMC : Part 1)

  • 이상성;박종근;이주장
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1998년도 하계학술대회 논문집 C
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    • pp.973-975
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    • 1998
  • For a nonlinear feedback linearization-full order observer/sliding mode controller (NFL-FOO/SMC), the separation principle is derived, and the closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

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NFL-FOO에 기준한 SMC의 안정도 증명 : Part 5 (Stability Proof of NFL-FOO-based SMC : Part 5)

  • 이상성;박종근;이주장
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1998년도 하계학술대회 논문집 C
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    • pp.985-987
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    • 1998
  • This paper presents a stability proof for the nonlinear feedback linearization-full order observer-based sliding mode controller (NFL-FOO-based SMC). The closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

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NFL-ROO/SMC의 안정도 증명 : Part 2 (Stability Proof of NFL-ROO/SMC : Part 2)

  • 이상성;박종근;이주장
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1998년도 하계학술대회 논문집 C
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    • pp.976-978
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    • 1998
  • This paper presents the stability proof of a nonlinear feedback linearization-reduced order observer/sliding mode controller (NFL-ROO/SMC). The closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

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NFL-O/SMMFC의 안정도 증명 : Part 3 (Stability Proof of NFL-O/SMMFC : Part 3)

  • 이상성;박종근;이주장
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1998년도 하계학술대회 논문집 C
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    • pp.979-981
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    • 1998
  • This paper presents a stability proof for the nonlinear feedback linearization-observer/sliding mode model following controller (NFL-O/SMMFC). The separation principle is derived, and the closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

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NFL-ROO에 기준한 SMC의 안정도 증명 : Part 6 (Stability Proof of NFL-ROO-based SMC : Part 6)

  • 이상성;박종근;이주장
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1998년도 하계학술대회 논문집 C
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    • pp.988-990
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    • 1998
  • This paper presents the stability proof of a nonlinear feedback linearization-reduced order observer-based sliding mode controller (NFL-ROO-based SMC). The closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

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