• 제목/요약/키워드: Dynamical System Method

검색결과 199건 처리시간 0.044초

비선형성이 존재하는 동적 시스템의 식별과 제어 (Identification and control of dynamical system including nonlinearities)

  • 김규남;조규상;양태진;김경기
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.236-242
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    • 1992
  • Multi-layered neural networks are applied to the identification and control of nonlinear dynamical system. Traditional adaptive control techniques can only deal with linear systems or some special nonlinear systems. A scheme for combining multi-layered neural networks with model reference network techniques has the capability to learn the nonlinearity and shows the great potential for adaptive control. In many interesting cases the system can be described by a nonlinear model in which the control input appears linearly. In this paper the identification of linear and nonlinear part are performed simultaneously. The projection algorithm and the new estimation method which uses the delta rule of neural network are compared throughout the simulation. The simulation results show that the identification and adaptive control schemes suggested are practically feasible and effective.

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VSS 이론을 활용한 최소위상 비선형 시스템에 대한 강인성연구 (Robust Nonlinear Control for Minimum Phase Dynamic System by Using VSS)

  • 임규만;양명섭
    • 융합신호처리학회논문지
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    • 제2권1호
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    • pp.95-100
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    • 2001
  • 본 논문에서는 불확실성을 갖는 비선형 시스템에 제어기를 설계하기 위해서 출력제환 선형화 방법을 통하여 비선형 시스템을 선형시스템으로 변환하고 슬라이딩 모드 제어기법을 사용하여 파라미터들을 갱신하고 이를 통하여 제어입력을 갱신하는 강인성제어기를 제안하고자 한다. 비선형시스템은 최소 위상시스템이고, 시스템의 상대차수는 r<n 이며, 제로 다이나믹스는 안정하다고 가정한다. 제안된 제어기에 대해서 대역적 점근적 안정도가 보장됨을 보였으며, 제안된 제어기에 대해서 컴퓨터 시뮬레이션을 통하여 타당성을 검증하였다.

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Adaptive Robust Output Tracking for Nonlinear MMO Systems

  • Im, Kyu-Mann
    • 융합신호처리학회 학술대회논문집
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    • 한국신호처리시스템학회 2003년도 하계학술대회 논문집
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    • pp.177-182
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    • 2003
  • The robust output tracking control problem of general nonlinear MIMO systems is discussed. The robustness against parameter uncertainties is considered. In this paper, we proposed the robust output tracking control scheme for a class of MIMO nonlinear dynamical systems using output feedback linearization method. The presented control scheme is based on the VSS. We assume that the nonlinear dynamical system is minimum phase, the relative degree of the system is r$_{1}$+r$_{2}$+…r$_{m}$$\leq$ n and zero dynamics is stable. It is shown that the outputs of the closed-loop system asymptotically track given output trajectories despite the uncertainties while maintaining the boundedness of all signals inside the loop. And we verified that the proposed control scheme is then applied to the control of a two degree of freedom (DOF) robotic manipulator with payload.d.

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Real-Time Optimal Control for Nonlinear Dynamical Systems Based on Fuzzy Cell Mapping

  • Park, H.T.;Kim, H.D.
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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    • pp.388-388
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    • 2000
  • The complexity of nonlinear systems makes it difficult to ascertain their behavior using classical methods of analysis. Many efforts have been focused on the advanced algorithms and techniques that hold the promise of improving real-time optimal control while at the same time providing higher accuracy. In this paper, a fuzzy cell mapping method of real-time optimal control far nonlinear dynamical systems is proposed. This approach combines fuzzy logic with cell mapping techniques in order to find the optimal input level and optimal time interval in the finite set which change the state of a system to achieve a desired obiective. In order to illustrate this method, we analyze the behavior of an inverted pendulum using fuzzy cell mapping.

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STATIONARY GLOBAL DYNAMICS OF LOCAL MARKETS WITH QUADRATIC SUPPLIES

  • Kim, Yong-In
    • 한국수학교육학회지시리즈B:순수및응용수학
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    • 제16권4호
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    • pp.427-441
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    • 2009
  • The method of Lattice Dynamical System is used to establish a global model on an infinite chain of many local markets interacting each other through a diffusion of prices between them. This global model extends the Walrasian evolutionary cobweb model in an independent single local market to the global market evolution. We assume that each local market has linear decreasing demands and quadratic supplies with naive predictors, and investigate the stationary behaviors of global price dynamics and show that their dynamics are conjugate to those of $H{\acute{e}}non$ maps and hence can exhibit complicated behaviors such as period-doubling bifurcations, chaos, and homoclic orbits etc.

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원자로 천이해석을 위한 파형완화법 (Waveform Relaxation Method for Reactor Transient Analysis)

  • Park, Keon-Woo;Co, Nam-Zin
    • Nuclear Engineering and Technology
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    • 제27권6호
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    • pp.845-852
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    • 1995
  • 반복계산법 (iterative method)중의 하나인 파형완화법 ( Waveform Relaxation Method)을 이용하여 시간의 함수인 비선형 원자로 동역학(reactor dynamics)의 해를 병렬처리기법으로 구하였다. 파형완화법은 각 반복계산과정중에서, 먼저 전체 시스템을 작은 부시스템(subsystem)으로 나누고, 각각의 부시스템들은 주어진 각각의 시간간격(time Interval)에서 해를 독립적으로 구한다. 만약 이 기법에 맞게 효과적으로 부시스템으로 나눌 수 있다면 병렬처리기법에 잘 응용될 수 있다 본 논문에서는 파형완화법이 소개되었고, 두 종류의 원자로 동역학에 응용되었다. 결론적으로 파형완화법은 원자로 동역학에 응용될 수 있으나, 다목적 연구로에 응응한 결과는 병렬효과가 그다지 크지 않은 것으로 나타났다.

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An active vibration control system with state feedback

  • Iwai, Zenta;Ishitobi, Mitsuaki;Hino, Mitsushi
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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    • pp.755-759
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    • 1989
  • This paper considers an active vibration control system based on pole placement incorporating the internal model principle when the system is subjected to disturbances which are generated by a linear dynamical system. Experimental results are presented which show the effectiveness of the method when the system is excited by a sine wave disturbance and system parameters are knwon. An adaptive control design is also discussed.

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심해용 무인 잠수정의 동역학 계수의 추정에 관한 연구 (Estimation of the Hydrodynamic Coefficients for the Deep-sea UUV "HEMIRE")

  • 백혁;김기훈;전봉환;이판묵;임용곤
    • 한국해양공학회지
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    • 제22권4호
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    • pp.97-105
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    • 2008
  • This paper represents the experimental identification of a finite-dimensional dynamical plant model for the HEMIRE Remotely Operated Vehicle. The experiments were conducted during sea trials in the East Sea in October 2006 and peer testing by the South Sea Research Institute in January 2007. A least-squares method was employed to identify decoupled single degree-of-freedom plant dynamical models for the X, Y, Z and heading degree-of-freedom from experimental data. The performance of the identified plant dynamical model was evaluated by directly comparing simulations of the identified plant model to the experimentally observed motion data from the actual vehicle.

Identification Using Orthonormal Functions

  • Bae, Chul-Min;Wada, Kiyoshi;Imai, Jun
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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    • pp.285-288
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    • 1998
  • A least-squares identification method is studied that estimates a finite number of coefficients in the series expansion of a transfer function, where the expansion is in terms of recently introduced generalized basis functions, We will expand and generalize the orthogonal functions as basis functions for dynamical system representations. To this end, use is made of balanced realizations as inner transfer functions. The orthogonal functions can be considered as generalizations of, for example, the pulse functions, Laguerre functions, and Kautz functions, and give rise to an alternative series expansion of rational transfer functions. We show that the Laplace transform of the expansion for some sets$\Psi_{\kappa}(Z)$ is equivalent to a series expansion . Techniques based on this result are presented for obtaining the coefficients $c_{n}$ as those of a series. One of their important properties is that, if chosen properly, they can substantially increase the speed of convergence of the series expansion. This leads to accurate approximate models with only a few coefficients to be estimated. The set of Kautz functions is discussed in detail and, using the power-series equivalence, the truncation error is obtained.

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INVERSE SHADOWING PROPERTY OF MORSE-SMALE SYSTEMS

  • Choi, Taeyoung;Lee, Keonhee
    • 충청수학회지
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    • 제15권1호
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    • pp.61-73
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    • 2002
  • We consider the inverse shadowing property of a dynamical system which is an "inverse" form of the shadowing property of the system. In particular, we show that every Morse-Smale system f on a compact smooth manifold has the inverse shadowing property with respect to the class $\mathcal{T}_h(f)$ of continuous methods generated by homeomorphisms, but the system f does not have the inverse\mathrm{T} shadowing property with respect to the class $\mathcal{T}_c(f)$ of continuous methods.

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