• 한국광학회지
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• 제8권6호
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• pp.492-499
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• 1997

굽은 비선형 도파로를 이용한 완전 광 스위치와 굽은 비선형 Y 분기각을 갖는 도파로를 이용한 완전 광 논리 연산소자를 제안하였다. 제안된 완전 광 스위치와 완전 광 논리 연산소자는 굽은 비선형 도파로를 따라가는 비선형파의 전파에 기초를 두고 있다. 빔의 전파특성은 도파로의 비선형성과 입력 파워, 도파로의 굽은 각도 등의 파라미터에 의해 좌우되므로 파라미터를 변화시켜 가면서 파워의 출력 특성을 계산해 보았다. 또한, 비선형 물질로 빠져 나오는 파워를 다양한 위치의 검출기에서 계산함으로써 특정한 검출기의 위치에서 가장 이상적인 디지털 스위칭 특성을 찾았고 도파로 끝과 비선형 물질로 빠져 나오는 파워의 비율에 의해 다양한 논리 함수(AND, OR, XOR)를 구현해 보았다.

• 전기학회논문지
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• 제63권9호
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• pp.1266-1272
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• 2014

We define the mobile robot navigation problem as an optimization problem to minimize the cost function with the pose error between the goal position and the position of a mobile robot. Using Gauss-Newton method for the optimization, the optimal speeds of the left and right wheels can be found as the solution of the optimization problem. Especially, the rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot using the Jacobian derived from the kinematic model. When the robot detects the obstacle using sensors, the sub-goal switching method is adopted for the efficient obstacle avoidance during the navigation. The performance was evaluated using the simulation and the simulation results show the validity of the proposed method.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 춘계학술대회 논문집
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• pp.205-209
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• 1999

This paper proposes a variable structure position controller for an induction motor(IM) which uses a reaching law and an integral compensating nonlinear switching function. With the reaching law, reaching mode can be established quantitatively during transient state so that dynamic control performance is improved. With the integral compensating nonlinear switching function, both very low overshoot and high steady state control accuracy can be obtained by compensating the states chattering problem due to the unmodelled dynamics of inverter and feedback sensors. For experiment a digital servo driver which consists of a DSP and an IPM inverter was developed. With the various experimental results, IM position control performance was verified.

• 한국광학회:학술대회논문집
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• 한국광학회 2002년도 하계학술발표회
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• pp.94-95
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• 2002

Photonic crystal (PC) has special interests for their promising applications in three-dimensional photon control and integrated devices. In a nonlinear photonic crystal (NPC), optical intensity in a defect layer is greatly increased due to the location function of NPC and nonlinearity. The nonliearity of the defect layer is very much enhanced because the group velocity is reduced and the interaction time between light and nonlinear medium in the defect layer is enlarged. (omitted)

• 전기학회논문지
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• 제56권6호
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• pp.1047-1054
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• 2007

This paper presents a high efficiency direct instantaneous torque control (DITC) of Switched Reluctance Motor(SRM) based on the nonlinear model. The DITC method can reduce the high inherent torque ripple of SRM drive system, but drive efficiency is somewhat low due to the high current and switching loss during commutations. In order to reduce a torque ripple, a fast torque reference trajectory is selected at every instantaneous rotor position. Based on the nonlinear model of SRM, the developing torque by one phase is fixed and the other phase is regulated for minimum switchings of phase switch and variation of torque. The switching during commutation can be reduced and fast commutation can be obtained in the proposed method. As a result, drive efficiency could be improved as well as torque ripple reduction. The validity of proposed method is verified by computer simulations and comparative experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.162.1-162
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• 2001

In this paper, the adaptive fuzzy system is used as an adaptive approximator for robot nonlinear dynamic. A theoretical justification for the adaptive approximator is proving that if the representive point(RP or switching function) and its derivative in sliding mode control are used as the inputs of the adaptive fuzzy system, the adaptive fuzzy system can approximate robot nonlinear dynamics in the neighborhood of the switching surface. Thus the fuzzy controller design is greatly simplified and at the same time, the fuzzy control rule can be obtained easily by the reaching condition. Based on this, a new method for designing an adaptive fuzzy control system based on sliding mode is proposed for the trajectory tracking control of a robot with unknown nonlinear dynamics.

• 제어로봇시스템학회논문지
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• 제2권4호
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• pp.279-286
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• 1996

In this paper, variable structure control(VSC) based on reaching law method with fuzzy inference for nonlinear systems is proposed. The reaching law means the reaching condition which forces an initial state of system to reach switching surface in finite time, and specifies the dynamics of a desired switching function. Since the conventional reaching law has fixed coefficients, the chattering can be existed largely in sliding mode. In the design of a proposed fuzzy reaching law, we fuzzify RP(representative point)'s orthogonal distance to switching surface and RP's distance the origin of the 2-dimensional space whose coordinates are the error and the error rate. The coefficients of the reaching law are varied appropriately by the fuzzy inference. Hence the state of system in reaching mode reaches fastly switching surface by the large values of reaching coefficients and the chattering is reduced in sliding mode by the small values of those. And the effectiveness of the proposed fuzzy reaching law method is showen by the simulation results of the control of a two link robot manipulator.

• Journal of the Korean Data and Information Science Society
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• 제17권2호
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• pp.609-617
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• 2006

A new fuzzy c-regression algorithm for switching regression analysis is presented, which combines fuzzy c-means clustering and least squares support vector machine. This algorithm can detect outliers in switching regression models while yielding the simultaneous estimates of the associated parameters together with a fuzzy c-partitions of data. It can be employed for the model-free nonlinear regression which does not assume the underlying form of the regression function. We illustrate the new approach with some numerical examples that show how it can be used to fit switching regression models to almost all types of mixed data.

• 제어로봇시스템학회논문지
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• 제16권12호
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• pp.1197-1200
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• 2010

The problem of designing a nonlinear sliding surface for an uncertain system is considered. The proposed sliding surface comprises a linear time invariant term and an additional time varying nonlinear term. It is assumed that a linear sliding surface parameter matrix guaranteeing the asymptotic stability of the sliding mode dynamics is given. The linear sliding surface parameter matrix is used for the linear term of the proposed sliding surface. The additional nonlinear term is designed so that a Lyapunov function decreases more rapidly. By including the additional nonlinear term to the linear sliding surface parameter matrix we obtain a nonlinear sliding surface such that the speed of responses is improved. We also give a switching feedback control law inducing a stable sliding motion in finite time. Finally, we give an LMI-based design algorithm, together with a design example.

• 대한수학회보
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• 제51권1호
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• pp.1-11
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• 2014

In this paper, we show that general nonlinear switched systems are asymptotically controllable if and only if there exist control-Lyapunov functions for their relaxation systems. If the switching signal is dependent on the time, then the control-Lyapunov functions are continuous. And if the switching signal is dependent on the state, then the control-Lyapunov functions are $C^1$-smooth. We obtain the results from the viewpoint of control system theory. Our approach is based on the relaxation theorems of differential inclusions and the classic Lyapunov characterization.