• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.515-515
• /
• 2000

The performance of dynamic path following of a wheeled mobile robot with nonholonomic constraints has some drawbacks such as the influence of the initial state. The drawbacks can be overcome by the temporary path generator and modified output. But with the previous input-output linearization method using them, it is difficult to tune the gains, and if there are some modeling errors, the low gain can make the system unstable. And if a high gain is used to overcome the model uncertainties, the control inputs are apt to be large so the system can be unstable. In this paper. an H$_{\infty}$ controller is designed to guarantee robustness to model parameter uncertainties and to consider the magnitude of control inputs. And the solution to Hamilton Jacobi (HJ) inequality, which is essential to H$_{\infty}$ control design, is obtained by nonlinear matrix inequality (NLMI).

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.32 no.10
• /
• pp.335-340
• /
• 1983

The analysis of static power converter circuit using state-space method is presented. Semiconductors are modeled in two-state resistors depending on their ON or OFF states. Then the modes of circuit are determined according to the conducting states of semiconductors and different describing matrices are given automatically for each mode. Newton-Raphson algorithm is used as an iterative method for obtaining steady-state solution and an adjoint network is introduced for the efficient and accurate evaluation of the Jacobi matrix in the algorithm. Using the porogram exploited from the above algorithm, it is shown through examples that the results are in good agreement with the analytic solutions and computation time is considerably reduced for obtaining the steady-state solutions.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.11
• /
• pp.185-190
• /
• 2000

비선형 시스템에 대한 $Η_{\infty}$ 제어 이론은 에너지 소진(energy dissipation) 개념을 기초로 개발되어 왔다. 에너지 소진을 이용한 비선형 $Η_{\infty}$ 제어기는 외란과 성능 벡터 사이의 $L_2$게인의 비를 일정이하로 만드는 방법으로 설계되고, 그 적용을 위해서는 헤밀턴 자코비 부등식의 해를 구하는 것이 필수적이지만, 일반적으로 헤밀턴 자코비 부등식의 해를 구하는 것은 매우 어렵다. 본 논문에서는 로봇 매니퓰레이터의 운동방정식을 변형하여 헤밀턴 자코비 부등식의 해를 구하기 쉬운 형태, 즉 비선형 행렬 부등식으로 표현하고, 운동 방적식을 구성하는 행렬의 각 항들이 한계가 존재한다는 것을 이용하여 그 부등식의 근사해를 구하였다.

• Communications of the Korean Mathematical Society
• /
• v.34 no.4
• /
• pp.1175-1199
• /
• 2019

We construct a general bi-basic inverse series relation which provides extension to several q-polynomials including the Askey-Wilson polynomials and the q-Racah polynomials. We introduce a general class of polynomials suggested by this general inverse pair which would unify certain polynomials such as the q-extended Jacobi polynomials and q-Konhauser polynomials. We then emphasize on applications of the general inverse pair and obtain the generating function relations, summation formulas involving the associated polynomials and derive the p-deformation of some of the q-analogues of Riordan's classes of inverse series relations. We also illustrate the companion matrix corresponding to the general class of polynomials; this is followed by a chart showing the reducibility of the extended p-deformed Askey-Wilson polynomials as well as the extended p-deformed q-Racah polynomials.

• Water for future
• /
• v.25 no.1
• /
• pp.93-100
• /
• 1992

A study on the Derivation of the Unit Hydrograph using Multiple Regression Moe이. The purpose of this study is to deriver an optimal unit hydrograph suing the multiple regression model, particularly when only small amount of data is available. The presence of multicollinearity among the input data can cause serious oscillations in the derivation of the unit hydrograph. In this case, the oscillations in the unit hydrograph ordinate are eliminated by combining the data. The data used in this study are based upon the collection and arrangement of rainfall-runoff data(1977-1989) at the Soyang-river Dam site. When the matrix X is the rainfall series, the condition number and the reciprocal of the minimum eigenvalue of XTX are calculated by the Jacobi an method, and are compared with the oscillation in the unit hydrograph. The optimal unit hydrograph is derived by combining the numerous rainfall-runoff data. The conclusions are as follows; 1)The oscillations in the derived unit hydrograph are reduced by combining the data from each flood event. 2) The reciprocals of the minimum eigen\value of XTX, 1/k and the condition number CN are increased when the oscillations are active in the derived unit hydrograph. 3)The parameter estimates are validated by extending the model to the Soyang river Dam site with elimination of the autocorrelation in the disturbances. Finally, this paper illustrates the application of the multiple regression model to drive an optimal unit hydrograph dealing with the multicollinearity and the autocorrelation which cause some problems.

• Journal of Korea Game Society
• /
• v.18 no.5
• /
• pp.123-132
• /
• 2018

Various methods have been proposed to efficiently animate the motion of soft objects in realtime. In order to maintain the topology between the elements of the objects, it is required to employ constraint forces, which limit the size of the time steps for the numerical integration and reduce the efficiency. To tackle this, an implicit method with larger steps was proposed. However, the method is, in essence, a linear system with a large matrix, of which solution requires heavy computations. Several approximate methods have been proposed, but the approximation is obtained with an increased damping and the loss of accuracy. In this paper, new integration method based on harmonic oscillation with better stability was proposed, and it was further stabilized with the hybridization with approximate implicit method. GPU parallelism can be easily implemented for the method, and large-scale soft objects can be simulated in realtime.

• Geophysics and Geophysical Exploration
• /
• v.5 no.4
• /
• pp.280-290
• /
• 2002

Three-dimensional (3-D) electromagnetic (EM) modeling algorithm has been developed using finite element method (FEM) to acquire more efficient interpretation techniques of EM data. When FEM based on nodal elements is applied to EM problem, spurious solutions, so called 'vector parasite', are occurred due to the discontinuity of normal electric fields and may lead the completely erroneous results. Among the methods curing the spurious problem, this study adopts vector element of which basis function has the amplitude and direction. To reduce computational cost and required core memory, complex bi-conjugate gradient (CBCG) method is applied to solving complex symmetric matrix of FEM and point Jacobi method is used to accelerate convergence rate. To verify the developed 3-D EM modeling algorithm, its electric and magnetic field for a layered-earth model are compared with those of layered-earth solution. As we expected, the vector based FEM developed in this study does not cause ny vector parasite problem, while conventional nodal based FEM causes lots of errors due to the discontinuity of field variables. For testing the applicability to high frequencies 100 MHz is used as an operating frequency for the layer structure. Modeled fields calculated from developed code are also well matched with the layered-earth ones for a model with dielectric anomaly as well as conductive anomaly. In a vertical electric dipole source case, however, the discontinuity of field variables causes the conventional nodal based FEM to include a lot of errors due to the vector parasite. Even for the case, the vector based FEM gave almost the same results as the layered-earth solution. The magnetic fields induced by a dielectric anomaly at high frequencies show unique behaviors different from those by a conductive anomaly. Since our 3-D EM modeling code can reflect the effect from a dielectric anomaly as well as a conductive anomaly, it may be a groundwork not only to apply high frequency EM method to the field survey but also to analyze the fold data obtained by high frequency EM method.