• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.8
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• pp.20-30
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• 1994

The lossless bounded real(LBR) two-pair cascade structure is one of the exiting low-sensitivity digital filter structures such as wave digital filters(WDFs) orthogonal filters. They are known to have the same structures which are composed of canonic building blocks interconnected to each other. The LBR two-pair cascade filters amount to describing in a unified manner the existing canonic low-sensitivity filters in terms of transfer matrices and chain matrices. However the existing structures have somewhat degraded low-sensitivity performance because they include dependent parameters within their structures. In this paper we propose a filter structure called “two-type-interlaced(TTI) structure.” eliminating such problem completely. This structures can be viewed as the WDFs of analog ladder circuits. As ladder circuits are obtained by cascading Brune sections and merging neighboring inductors or capacitors. so TTI structures at e obtained by cascading Type 3 LBR two-pairs and merging neighboring Type 1 LBR two-pairs. Next, a test procedure called “LBR test” is also presented in this paper. which determines whether of not the quantized TTI structure is stable . If it is unstable we can fine-tune the quantized parameters to make the overall structure stable. Therefore we can solve the dependent parameter problem completely with TTI structure along with LBR test. test.

• Journal of IKEEE
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• v.9 no.1 s.16
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• pp.72-78
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• 2005

This paper describes the design of a robust output-feedback controller for a single-input single-output nonlinear dynamical system with a full relative degree. While all the previous research works on the output-feedback control are based on dynamic observers, a new state estimator which uses the past values of the measurable system output is proposed. We name it backward-difference state estimator since the derivatives of the output are estimated simply by backward difference of the present and past values of the output. The disturbance generated due to the error between the estimated and real state variables is compensated using an additional robustifying control law whose gain is tuned adaptively. Overall control system guarantees that the tracking error is asymptotically convergent and that all signals involved are uniformly bounded. Theoretical results are illustrated through a simulation example of inverted pendulum.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.14-19
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• 1998

In this paper, a target approachable force-guided control with adaptive accommodation for the complex assembly is presented. The complex assembly (CA) is defined as a task which deals with complex shaped parts including concavity or whose environment is so complex that unexpected contacts occur frequently during insertion. CA tasks are encountered frequently in the field of the manufacturing automation and various robot applications. To make CA successful, both the bounded wrench condition and the target approachability condition should be satisfied simultaneously during insertion. By applying the convex optimization technique, an optimum target approaching twist can be determined at each instantaneous contact state as a global minimum solution. Incorporated with an admissible perturbation method, a new CA algorithm using only the sensed resultant wrench and the target twist is developed without motion planning nor contact analysis which requires the geometry of the part and the environment. Finally, a VME-bus based real-time control system is built to experiment various CA task. T-insertion task as a planar CA and double-peg assembly task as a spacial assembly were successfully executed by implementing the new force-guided control with adaptive accommodation.

• Journal of Power Electronics
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• v.13 no.6
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• pp.955-963
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• 2013

To acquire a performed and practical solution that is free from chattering, this study proposes the use of an adaptive super-twisting algorithm to drive a single-phase induction motor. Partial feedback linearization is applied before using a super-twisting algorithm to control the speed and stator currents. The load torque is considered an unknown but bounded disturbance. Therefore, a time-varying switching gain that does not require prior knowledge of the disturbance boundary is proposed. A simple sliding surface is formulated as the difference between the real and desired trajectories obtained from the indirect rotor flux oriented control strategy. To illustrate the effectiveness of the proposed control structure, an experimental setup around a digital signal processor (dS1104) is developed and several tests are performed.

• Journal of the Korean Mathematical Society
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• v.58 no.6
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• pp.1327-1345
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• 2021

In this paper, we are concerned with a Liouville-type result of the nonlinear integral equation of Chern-Simons-Higgs type $$u(x)=\vec{\;l\;}+C_{\ast}{{\displaystyle\smashmargin{2}{\int\nolimits_{\mathbb{R}^n}}}\;{\frac{(1-{\mid}u(y){\mid}^2){\mid}u(y){\mid}^2u(y)-\frac{1}{2}(1-{\mid}u(y){\mid}^2)^2u(y)}{{\mid}x-y{\mid}^{n-{\alpha}}}}dy.$$ Here u : ℝⁿ → ℝ^k is a bounded, uniformly continuous function with k ⩾ 1 and 0 < α < n, $\vec{\;l\;}{\in}\mathbb{R}^k$ is a constant vector, and C_* is a real constant. We prove that ${\mid}\vec{\;l\;}{\mid}{\in}\{0,\frac{\sqrt{3}}{3},1\}$ if u is the finite energy solution. Further, if u is also a differentiable solution, then we give a Liouville type theorem, that is either $u{\rightarrow}\vec{\;l\;}$ with ${\mid}\vec{\;l\;}{\mid}=\frac{\sqrt{3}}{3}$, when |x| → ∞, or $u{\equiv}\vec{\;l\;}$, where ${\mid}\vec{\;l\;}{\mid}{\in}\{0,1\}$.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.211-224
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• 2019

This paper deals with a nonlinear controller based on saturation functions with variable parameters for set-point regulation and trajectory tracking control of an Autonomous Underwater Vehicle (AUV). In many cases, saturation functions with constant parameters are used to limit the input signals generated by a classical PD (Proportional-Derivative) controller to avoid damaging the actuators; however this abrupt bounded harms the performance of the controller. We, therefore, propose to replace the conventional saturation function, with constant parameters, by a saturation function with variable parameters to limit the signals of a PD controller, which is the base of the nonlinear PD with gravitational/buoyancy compensation and the nonlinear PD + controllers that we propose in this paper. Consequently, the mathematical model is obtained, considering the featuring operation of the underwater vehicle LIRMIA 2, to do the stability analysis of the closed-loop system with the proposed nonlinear controllers using the Lyapunov arguments. The experimental results show the performance of an AUV (LIRMIA 2) for the depth control problems in the case of set-point regulation and trajectory tracking control.

• Journal of Information Processing Systems
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• v.16 no.6
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• pp.1324-1342
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• 2020

Various modified algorithms of rapidly-exploring random tree (RRT) have been previously proposed. However, compared to the RRT algorithm for collision avoidance with global and static obstacles, it is not easy to find a collision avoidance and local path re-planning algorithm for dynamic obstacles based on the RRT algorithm. In this study, we propose boundary-RRT*, a novel-algorithm that can be applied to aerial vehicles for collision avoidance and path re-planning in a three-dimensional environment. The algorithm not only bounds the configuration space, but it also includes an implicit bias for the bounded configuration space. Therefore, it can create a path with a natural curvature without defining a bias function. Furthermore, the exploring space is reduced to a half-torus by combining it with simple right-of-way rules. When defining the distance as a cost, the proposed algorithm through numerical analysis shows that the standard deviation (σ) approaches 0 as the number of samples per unit time increases and the length of epsilon ε (maximum length of an edge in the tree) decreases. This means that a stable waypoint list can be generated using the proposed algorithm. Therefore, by increasing real-time performance through simple calculation and the boundary of the configuration space, the algorithm proved to be suitable for collision avoidance of aerial vehicles and replanning of local paths.

• International Journal of Computer Science & Network Security
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• v.22 no.4
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• pp.1-12
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• 2022

In order to overcome the power fluctuation issues in photovoltaic (PV) smart grid-connected systems and the inverter nonlinearity model problem, an adaptive backstepping command-filter and a double second order generalized Integrators (DSOGI) controller are designed in order to tune the AC current and the DC-link voltage from the DC side. Firstly, we propose to present the filter mathematical model throughout the PV system, at that juncture the backstepping control law is applied in order to control it, Moreover the command filter is bounded to the controller aiming to exclude the backstepping controller differential increase. Additionally, The adaptive law uses Lyapunov stability criterion. Its task is to estimate the uncertain parameters in the smart grid-connected inverter. A DSOGI is added to stabilize the grid currents and eliminate undesirable harmonics meanwhile feeding maximum power generated from PV to the point of common coupling (PCC). Then, guaranteeing a dynamic effective response even under very unbalanced loads and/or intermittent climate changes. Finally, the simulation results will be established using MATLAB/SIMULINK proving that the presented approach can control surely the smart grid-connected system.

• Journal of the Korean Mathematical Society
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• v.36 no.6
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• pp.1061-1073
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• 1999

Let X be a real normed linear space. Let T : D(T) ⊂ X \longrightarrow X be a uniformly continuous and ∮-strongly quasi-accretive mapping. Let {${\alpha}$n}{{{{ { }`_{n=0 } ^{$\infty$ } }}}} , {${\beta}$n}{{{{ { }`_{n=0 } ^{$\infty$ } }}}} be two real sequences in [0, 1] satisfying the following conditions: (ⅰ) ${\alpha}$n \longrightarrow0, ${\beta}$n \longrightarrow0, as n \longrightarrow$\infty$ (ⅱ) {{{{ SUM from { { n}=0} to inf }}}} ${\alpha}$=$\infty$. Set Sx=x-Tx for all x $\in$D(T). Assume that {u}{{{{ { }`_{n=0 } ^{$\infty$ } }}}} and {v}{{{{ { }`_{n=0 } ^{$\infty$ } }}}} are two sequences in D(T) satisfying {{{{ SUM from { { n}=0} to inf }}}}∥un∥<$\infty$ and vn\longrightarrow0 as n\longrightarrow$\infty$. Suppose that, for any given x0$\in$X, the Ishikawa type iteration sequence {xn}{{{{ { }`_{n=0 } ^{$\infty$ } }}}} with errors defined by (IS)1 xn+1=(1-${\alpha}$n)xn+${\alpha}$nSyn+un, yn=(1-${\beta}$n)x+${\beta}$nSxn+vn for all n=0, 1, 2 … is well-defined. we prove that {xn}{{{{ { }`_{n=0 } ^{$\infty$ } }}}} converges strongly to the unique zero of T if and only if {Syn}{{{{ { }`_{n=0 } ^{$\infty$ } }}}} is bounded. Several related results deal with iterative approximations of fixed points of ∮-hemicontractions by the ishikawa iteration with errors in a normed linear space. Certain conditions on the iterative parameters {${\alpha}$n}{{{{ { }`_{n=0 } ^{$\infty$ } }}}} , {${\beta}$n}{{{{ { }`_{n=0 } ^{$\infty$ } }}}} and t are also given which guarantee the strong convergence of the iteration processes.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.11 no.5
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• pp.46-55
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• 2012

This study proposes an estimate method of willingness to pay(WTP) for real-time route guidance systems using contingent valuation method(CVM) under double bounded dichotomous choice question(DBDCQ) and analysis for impact factors of WTP estimation. This study assumed that provided real-time traffic information service is optimal route concepts dealing with traffic conditions on origin-destination. Analysis targets were classified into two groups as short distance path and middle distance path for estimating WTP for realtime route guidance system in a year using the survival analysis method and the regression model with personal information, actual condition and satisfaction of information usage and users' awareness and usage of facilities. As a result, mean WTP of realtime route guidance system is 4,034won/year in short distance path, and 4,884won/year in middle distance path. Therefore real-time route guidance system for longer distance path is recognized as more valuable than shorter distance path. Moreover, the necessity of information was required on a higher income group and higher WTP was estimated on owners of vehicle group and lower awareness of a route group.