• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.155.5-155
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• 2001

The robust predictive control law which use the bound estimation is proposed for uncertain robot manipulators. Since the control design of a real manipulator system may often be made on the basis of the imperfect knowledge about model, it´s an important tend to design a robust control law that will guarantee the desired performance of the manipulator under uncertain elements. In the preceeding work, the robust predictive control law was proposed. In this work, we propose a class of robust predictive control of manipulators with the bound estimate technique and fe stability based on Lyapunov function is presented.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.172.1-172
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• 2001

In this paper we show the stability analysis of the discrete nonlinear system with average bounded variation of the input. This is the discrete counterpart of that continuous one. We use the Lyapunov stability to prove the boundedness of the steady-state error. Also the allowable maximum variation bounds and the region of attraction are given as the function of the system parameters. Moreover, we prove the uniform convergence for the constant input.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.95.4-95
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• 2001

In this paper, we proposed and analyze an robust adaptive control scheme for uncertain nonlinear systems using Universal function approximators. The proposed scheme completely overcomes the singularity problem which occurs in the indirect adaptive feedback linearizing control. No projection in the estimated parameters and no switching in the control input are needed. The stability of the closed-loop systems is guaranteed in the Lyapunov standpoint.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.83.5-83
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• 2002

Perspective dynamical systems arise in machine vision, in which only perspective observation is available, and the essential problem is to estimate the state and /or unknown parameters for a moving rigid body based on the observed information. This paper proposes and studies a Luenberger-type observer for perspective tim e-varying linear systems. In particular, assuming a given perspective time-varying linear system to be Lyapunov stable and to satisfy some sort of observability condition, it is shown that the estimation error converges exponentially to zero. Finally, a simple numerical exam pie is presented to illustrate the result obtained.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.32-43
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• 1999

Adaptive robust control scheme is introduced for flexible joint manipulator with nonlinearities and uncertainties. The system does not satisfy the matching condition due to insufficient actuators for each node. The control only relies on the assumption that the bound of uncertainty exists. Thus, the bounded value does not need to be known a prior. The control utilizes the update law by estimating the bound of the uncertainties. The control scheme uses the backstepping method and constructs a state transformation. Also, stability analysis is done for both transformed system and original system.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.2
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• pp.139-144
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• 1999

The present paper is concerned with the robust decentralized stabilization problem of large-scale systems with time delays in the interconnections using sliding mode control. Based on Lyapunov stability theorem and H$_{\infty}$ theory, an existence condition of the sliding mode and a robust decentralized sliding mode controller are newly derived for large-scale systems under mismatched uncertainties. Finally, a numerical example is given to verify the validity of the results developed in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.268-273
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• 1991

Missile and target closing velocity is used in the proportional navigation(PN) missile guidance loop. But it is difficult to estimate the closing velocity when passive seeker is used and only the Line-of-Sight(LOS) rate is available in the guidance loop. In this study, new closing velocity estimation method is developed. This method uses LOS rate measurement only and uses some characteristics of PN guidance law. The Lyapunov method is used to analyze the stability of the developed estimation method.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.242-245
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• 1988

This paper presents a robust discrete MRAC with the discrete e/sub 1/ -modification. Discrete e/sub 1/ -modification is proposed by extending the Narendra's e/sub 1/ -modification to the discrete version. In this case the adaptive controller was reformed by Lyapunov's direct metbod. And the improved robustness by using this algorithm was showed by sector theory.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.489-493
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• 1989

In this paper a new approach to adaptive control using a combination of both direct and indirect methods has been proposed. Based on the estimates of the plant parameters and the current values of the control parameters, closed-loop estimation errors .epsilon.$_{\theta}$(t) and .epsilon.$_{k}$(t) are defined. These in turn are used in the adaptive laws for updating both identification as well as control parameters. The global uniform stability of the overall system is shown by constructing a Lyapunov function.n.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.160-163
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• 1988

In this paper, the adaptive controller for the turret gun is discussed which uses model reference adaptive technique based on the Lyapunov direct method. Turret gun can be decomposed into two time-invariant SISO control systems. One is for the elevation angle control and the other is for the azimuth angle control under the assumption of independence each other. Thus we only consider here about the control loop for the elevation angle.