• 한국정밀공학회지
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• 제27권2호
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• pp.123-129
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• 2010

The purpose of study is to investigate the correlation between the Lyapunov exponent (LE) and the displacement of the center of gravity (DCG) for clarifying walking stability on the treadmill. From fifteen young healthy subjects volunteered, lower extremity joint angles were recorded using a three-dimensional motion capture system with reflective markers. The anteroposterior DCG and the LE were calculated by a commercial software. A linear correlation between LE and DCG (p<0.05) showed that LEs compensated for walking distance on the treadmill walking. However, LEs were found to be independent of self-selected walking speeds by a negligible correlation between LE and the Froude number (p>0.05).

• Journal of Welding and Joining
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• 제28권1호
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• pp.72-76
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• 2010

Irregular fluctuation of penetration depth in CW single mode fiber laser welding is analyzed statistically and chaotically. Among various chaos theories, one of the basic concept referred as Lyapunov exponent is applied to the analysis to quantify the irregularity of penetration. Especially, maximal Lyapunov exponent (MLE) is known as the representative value indicating chaotic degree of the system dynamics. MLE calculation method of experimental data is applied to longitudinal spiking defect in fiber laser weld. Laser power modulation is suggested as a remedy then the computed MLE value is compared to CW case. It is shown that the adoption of chaos theory, MLE computation, can be used as a measurement standard to prove the validity of the solutions to prevent the unexpected chaotic behavior of weld through this work.

• International Journal of Aeronautical and Space Sciences
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• 제9권2호
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• pp.71-78
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• 2008

New formation flight controller for unmanned aerial vehicles is proposed. A behavioral decentralized control approach called formation geometry center control is adopted. Trajectory tracking as well as formation geometry keeping are the purpose of the formation flight, and therefore two controllers are designed: a trajectory tracking controller for reference trajectory tracking, and a position controller for formation geometry keeping. Each controller is designed using Lyapunov stability theorem to guarantee the asymptotic stability. Formation flight controller is finally obtained by combining the trajectory tracking controller and the formation geometry keeping controller using a weighting parameter that depends on the relative distance error between unmanned aerial vehicles. Numerical simulations are performed to validate the performance of the proposed controller.

• 대한기계학회논문집A
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• 제25권9호
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• pp.1461-1467
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• 2001

This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.

• 제어로봇시스템학회논문지
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• 제14권6호
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• pp.548-553
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• 2008

In this paper, we propose a new swing-up control strategy for rotary inverted pendulums with restricted rotation range. The control law is derived from a Lyapunov function. The Lyapunov function is defined as the square of the sum of the absolute value of the total mechanical energy and weighted squares of the arm's angular displacement and velocity. By adjusting the weighting parameters in the Lyapunov function, we can affect the swing-up strategy such that the restriction on rotation range can be satisfied. Finally, we verify the performance of the proposed control law through simulation and experiments.

• 산업기술연구
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• 제14권
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• pp.19-28
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• 1994

일반적으로 2차원 Poisson 방정식을 풀기 위해 유한 차분법을 이용하여 tridiagonal block Toeplitz 선형방정식을 얻는다. 이 선형방정식의 독특한 형태를 활용하기 위해 Lyapunov 방정식으로 변화시킨 다음 이산정현변환(DST)을 이용해서 대각선 행렬로 만들면 계산이 용이해진다. 또 DST는 FFT를 이용해 계산할 수 있으므로 고속 계산이 가능하다. FFT를 병렬로 처리하기 위해 프로세서가 4,096개인 SIMD 컴퓨터 MP-2에서 시뮬레이션했다. 본 논문에서는 알고리즘 유도, 매핑 및 시뮬레이션 결과를 제시했다.

• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.317-323
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• 2007

Quality of Service (QoS) in the Internet depends on queuing and sophisticated scheduling in routers. In this paper, we address the issue of managing traffic flows with different priorities. In our reference model, incoming packets are first classified based on their priority, placed into different queues with different capacities, and then multiplexed onto one router link. The fuzzy nature of the information on Internet traffic makes this problem particularly suited to fuzzy methodologies. We propose a new solution that employs a fuzzy inference system to dynamically and efficiently schedule these priority queues. The fuzzy rules are derived to minimize the selected Lyapunov function. Simulation experiments show that the proposed fuzzy scheduling algorithm outperforms the popular Weighted Round Robin (WRR) queue scheduling mechanism.

• 전기전자학회논문지
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• 제17권1호
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• pp.83-88
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• 2013

본 논문에서는 입력과 출력에 동시에 시간 지연이 존재하는 피드포워드 비선형시스템에 대한 출력 피드백 제어 방법을 제안한다. 제안한 출력 피드백 제어기는 선형관측기와 선형제어기로 구성된다. Lyapunov-Krasovskii 정리를 이용하여 임의의 크기를 갖는 시간지연에 대하여 전역적 점근 안정도를 보장함을 증명한다. 마지막으로 제안한 결과의 유효성을 증명하기 위하여 모의실험 예제를 제공한다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제12권2호
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• pp.131-136
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• 2012

If one can find a control Lyapunov function (CLF) for a given nonlinear system, the control input stabilizing the system can be easily obtained. To find a CLF, the time derivative of an energy function should be negative definite. This procedure frequently requires a control input which is a rational function or includes an inverse function. The control input is not defined on the specific state-space where the denominator of the rational function is equal to 0 or the inverse function does not exist. In this region with singularities, the trajectory of the control system cannot be generated, which is one of the most important reasons why it is hard to make the origin of a nonlinear system be globally asymptotically stable. In this paper, we propose a smooth control law ensuring the globally asymptotic stability by means of cancelling the singularity in the control input.

• 대한전기학회논문지:전력기술부문A
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• 제48권4호
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• pp.478-485
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• 1999

The purpose of this paper was the determination of the relationship between the chaotic charateristics and various levels of brain activities. Assuming that EEG(eletroencephalogram), which is generated by a nonlinear electiecal behavior of billions of neurons in the brain, has chaotic characteristics, it was confirmed by frequency spectrum analysis, log frequency spectrum analysis, correlation dimension analysis and Lyapunov exponents analysis. Chaotic characteristics are related to the degree of brain activity. The slope of log frequency spectrum increased and the correlation dimension decreased with respect to the brain activities, while the lagrest Lyapunov exponent has some rough correlation.