• 전자공학회논문지 IE
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• 제46권4호
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• pp.49-56
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• 2009

본 논문에서는 구조적 불확실성을 갖는 비선형 시스템에 대한 안정화 역 최적 제어를 고려하였다. 제어 Lyapunov 함수를 기초로, 대역적 점근적 안정도를 제안한다. 이로부터 역 최적 제어를 위한 최소의 제약조건을 유도한다. 이 결과를 이용하여 불확실성을 갖는 비선형시스템의 역 최적 제어기에 적용하였으며, 기존의 결과를 확장한 것이다. 본 연구에서 고려된 비선형 시스템은 가장 많이 표현되며 제안된 방법의 효율성을 검증하기 위하여 시뮬레이션을 하였다.

• Korea-Australia Rheology Journal
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• 제14권1호
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• pp.33-45
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• 2002

Recent results obtained for the port-pom model and the constitutive equations with time-strain separability are examined. The time-strain separability in viscoelastic systems Is not a rule derived from fundamental principles but merely a hypothesis based on experimental phenomena, stress relaxation at long times. The violation of separability in the short-time response just after a step strain is also well understood (Archer, 1999). In constitutive modeling, time-strain separability has been extensively employed because of its theoretical simplicity and practical convenience. Here we present a simple analysis that verifies this hypothesis inevitably incurs mathematical inconsistency in the viewpoint of stability. Employing an asymptotic analysis, we show that both differential and integral constitutive equations based on time-strain separability are either Hadamard-type unstable or dissipative unstable. The conclusion drawn in this study is shown to be applicable to the Doi-Edwards model (with independent alignment approximation). Hence, the Hadamardtype instability of the Doi-Edwards model results from the time-strain separability in its formulation, and its remedy may lie in the transition mechanism from Rouse to reptational relaxation supposed by Doi and Edwards. Recently in order to describe the complex rheological behavior of polymer melts with long side branches like low density polyethylene, new constitutive equations called the port-pom equations have been derived in the integral/differential form and also in the simplifled differential type by McLeish and carson on the basis of the reptation dynamics with simplifled branch structure taken into account. In this study mathematical stability analysis under short and high frequency wave disturbances has been performed for these constitutive equations. It is proved that the differential model is globally Hadamard stable, and the integral model seems stable, as long as the orientation tensor remains positive definite or the smooth strain history in the flow is previously given. However cautious attention has to be paid when one employs the simplified version of the constitutive equations without arm withdrawal, since neglecting the arm withdrawal immediately yields Hadamard instability. In the flow regime of creep shear flow where the applied constant shear stress exceeds the maximum achievable value in the steady flow curves, the constitutive equations exhibit severe instability that the solution possesses strong discontinuity at the moment of change of chain dynamics mechanisms.

• 한국산학기술학회논문지
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• 제10권10호
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• pp.2651-2659
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• 2009

본 논문에서는 구조적 불확실성을 갖는 비선형 시스템에 대한 역 최적 제어를 고려하였다. 먼저 불확실성의 구조적 범위를 논의하고, 제어 Lyapunov 함수를 기초로, 불확실성을 가지는 비선형시스템에 대한 대역적 점근적 안정도를 제안하고 증명한다. 이로부터 역 최적 제어를 위한 최저의 제약조건을 유도하고 증명한다. 이 결과를 이용하여 불확실성을 갖는 비선형시스템에 적용하였으며, 제안된 방법의 효율성을 검증하기 위하여 시뮬레이션을 하였다.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.452-461
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• 2007

Adaptive anti-sway and trajectory tracking control of overhead crane is presented, which utilizes Fuzzy Uncertainty Observer(FUO) and Fuzzy based Variable Structure Control(FVSC). We consider an overhead crane system which can be decoupled into the actuated and unactuated subsystems with its own lumped uncertainty such as parameter uncertainties and external disturbance. First, a new method for anti-sway control using FVSC is proposed to improve the conventional method based on Lyapunov direct method, while a conventional trajectory tracking control law using feedback linearization is directly adopted. Second, FUO is designed to estimate one of the two lumped uncertainties which can compensate both of them, based on the fact that two lumped uncertainties are coupled with each other. Then, an adaptive anti-sway control is proposed by incorporating the proposed FVSC and FUO. Under the condition that the observation error is Uniformly Ultimately Bounded(UUB) within an arbitrarily shrinkable region, the overall closed-loop system is shown to be Globally Uniformly Ultimately Bounded(GUUB). In addition, the Global Asymptotic Stability(GAS) of it is shown under the vanishing disturbance assumption. Finally, the effectiveness of the proposed scheme has been confirmed by numerical simulations.

• 한국지능시스템학회논문지
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• 제15권3호
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• pp.324-329
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• 2005

본 논문에서는 시간 지연을 갖는 이산 시간 비선형 시스템을 $H\infty$ 의미에서 안정하게 하는 정적 출력 제한 퍼지 제어기 설계를 제시한다. 먼저 대상이 되는 비선형 시스템은 Takagi-Sugeno 퍼지 모델로 표현 되어진다. 그리고 parallel distributed compensation technique을 이용하여 퍼지 제어기의 형태를 만든다. 하나의 Lyapunov 함수를 정하여서 폐루프 시스템의 전역 점근적 안정성과 외란에 대한 강인성을 bilinear matrix inequality 형태로 제시한다. 그리고 합동변환법과 동질성 변환법을 통해 이것을 선형 행렬 부등식 (linear matrix inequality) 으로 표현한다. 제안된 방법의 효율성과 가능성을 보여주기 위해 한 예제를 포함한다.