• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.765-768
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• 2000

Linearization of the biped dynamic equations and design of linear controller for the linearized equations are studied in this paper. The biped robot with inverted pendulum type trunk, used to stabilize the dynamic balancing of the biped robot during dynamic walking period, is modelled with 14 DOF and simulated. Despite of well defined linear control theories so far, the linear control methods was limited to the applications for a walking robot, because they have been inherently strong nonlinear properties, such as a modeling parameter uncertainties, external forces as noise, inertial and Coriolis terms by three dimensional modeling and so on. To linearize the nonlinear equations of motion of biped robot on MIMO and time varying linear equations of motion, 1st order Taylor series is used to formulate the linear equation. And a 2nd order numerical perturbation method Is used to approximate partial differential equations. Using the linearized equations of motion, a linear controller is designed by pole placement method with feed forward compensation. Using the obtained linearized equations and linear controller, the continuous walking simulation is performed.

• 대한기계학회논문집A
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• 제25권11호
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• pp.1730-1736
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• 2001

A finite element analysis for a rotating cantilever beam is presented in this study. Based on a dynamic modeling method using the stretch deformation instead of the conventional axial deformation, three linear partial differential equations are (derived from Hamilton's principle. Two of the linear differential equations show the coupling effect between stretch and chordwise deformations. The other equation is an uncoupled one for the flapwise deformation. From these partial differential equations and the associated boundary conditions, two weak forms are derived: one is for the chordwise motion and the other is fur the flptwise motion. The weak farms are spatially discretized with newly defined two-node beam elements. With the discretized equations or the matrix-vector equations, the behaviors of the natural frequencies are investigated for the variation of the rotating speed.

• Korean Journal of Mathematics
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• 제23권1호
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• pp.205-230
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• 2015

A class of periodic type boundary value problems of coupled impulsive fractional differential equations are proposed. Sufficient conditions are given for the existence of solutions of these problems. We allow the nonlinearities p(t)f(t, x, y) and q(t)g(t, x, y) in fractional differential equations to be singular at t = 0, 1 and be involved a sup-multiplicative-like function. So both f and g may be super-linear and sub-linear. The analysis relies on a well known fixed point theorem. An example is given to illustrate the efficiency of the theorems.

• Journal of applied mathematics & informatics
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• 제28권3_4호
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• pp.883-892
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• 2010

This paper is concerned with oscillation property of solutions of a class of second order nonlinear differential equations with perturbation. Four new theorems of oscillation property are established. These results develop and generalize the known results. Among these theorems, two theorems in the front develop the results by Yan J(Proc Amer Math Soc, 1986, 98: 276-282), and the last two theorems in this paper are completely new for the second order linear differential equations.

• 제어로봇시스템학회논문지
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• 제9권7호
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• pp.556-562
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• 2003

This paper presents new attitude error differential equations to define attitude errors as the rotation vector for inertial navigation systems. Attitude errors are defined with the rotation vector between the reference coordinate frame and the platform coordinate frame, and Platform dynamics to the reference coordinate frame due to platform torque command errors are defined. Using these concepts for attitude error definition and platform dynamics, we have derived attitude error differential equations expressed in original nonlinear form for GINS and SDINS and showed that these are equivalent to attitude error differential equations expressed in known linear form. The relation between attitude errors defined by the rotation vector and attitude errors defined by quaternion is clearly presented as well.

• Journal of applied mathematics & informatics
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• 제7권2호
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• pp.453-465
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• 2000

In this paper, a new method for finding the approximate solution of a second order nonlinear partial differential equation is introduced. In this method the problem is transformed to an equivalent optimization problem. them , by considering it as a distributed parameter control system the theory of measure is used for obtaining the approximate solution of the original problem.

• 대한수학회보
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• 제56권2호
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• pp.479-489
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• 2019

In this paper, we show the existence of a weak solution for a stochastic differential equation driven by an additive fractional Brownian sheet with Hurst parameters H, H' > 1/2, and a drift coefficient satisfying the linear growth condition. The result is obtained using a suitable Girsanov theorem for the fractional Brownian sheet.

• 대한수학회보
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• 제61권4호
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• pp.917-932
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• 2024

In this paper, we deal with the Euler-Maruyama (EM) scheme for stochastic differential equations driven by G-Brownian motion (G-SDEs). Under the linear growth and the local Lipschitz conditions, the strong convergence as well as the rate of convergence of the EM numerical solution to the exact solution for G-SDEs are established.

• 충청수학회지
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• 제7권1호
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• pp.123-139
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• 1994

In this paper we are concerned with optimal control problems whose costs are quadratic and whose states are governed by linear delay differential equations and general boundary conditions. The basic new idea of this paper is to introduce a new class of linear operators in such a way that the state equation subject to a starting function can be viewed as an inhomogeneous boundary value problem in the new linear operator equation. In this way we avoid the usual semigroup theory treatment to the problem and use only linear operator theory.

• 한국통신학회논문지
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• 제15권7호
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• pp.553-564
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• 1990

선계2계 편미분 방정식의 일반식에 대한 계수 메트릭스를 (n-1)x(n-1) submatrices로 나누어서 block tridiagonal system으로 변환한 후 cyclic odd-even reduction 기법을 응용하여 large-grain data granularity로서 미지벡타를 구하는 block cyclic reduction 알고리즘을 작성했다. 그런데 이 block cyclic reduction 기법은 매 연산의 단계마다 병렬성이 변하여 병렬처리형 컴퓨터에는 적합하지 못하므로 이 기법을 변형해서 병렬성이 일정하며 실행시간이 보다 단축되는 block cyclic reduction 기법을 제안하고 이 기법에 의한 선형2계 편미분 방정식의 일반식의 解를 구하는 알고리즘을 작성하여 기존의 기법과 비교 고찰했다.