• Bulletin of the Korean Mathematical Society
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• v.55 no.3
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• pp.749-762
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• 2018

In this paper, the new optimal perturbation iteration method has been applied to solve the generalized regularized long wave equation. Comparing the new analytic approximate solutions with the known exact solutions reveals that the proposed technique is extremely accurate and effective in solving nonlinear wave equations. We also show that,unlike many other methods in literature, this method converges rapidly to exact solutions at lower order of approximations.

• ETRI Journal
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• v.34 no.6
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• pp.869-878
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• 2012

A beam design method based on signal-to-leakage-plus-noise ratio (SLNR) has been recently proposed as an effective scheme for multiuser multiple-input multiple-output downlink channels. It is shown that its solution, which maximizes the SLNR at a transmitter, can be simply obtained by the generalized eigenvectors corresponding to the dominant generalized eigenvalues of a pair of covariance matrices of a desired signal and interference leakage plus noise. Under time-varying channels, however, generalized eigendecomposition is required at each time step to design the optimal beam, and its level of complexity is too high to implement in practical systems. To overcome this problem, a predictive beam design method updating the beams according to channel variation is proposed. To this end, the perturbed generalized eigenvectors, which can be obtained by a perturbation theory without any iteration, are used. The performance of the method in terms of SLNR is analyzed and verified using numerical results.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.221-229
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• 2022

Sliding mode control (SMC) is a robust control method to control a robot arm with nonlinear properties. A high switching gain of SMC causes chattering problems, although the SMC allows the adequate control performance by giving high switching gain, without the exact robot model containing nonlinear and uncertainty terms. In order to solve this problem, SMC with sliding perturbation observer (SMCSPO) has been researched, where the method can reduce the chattering by compensating the perturbation, which is estimated by the observer, and then choosing a lower switching control gain of SMC. However, optimal gain tuning is necessary to get a better tracking performance and reducing a chattering. This paper proposes a method that the Q-learning automatically tunes the control gains of SMCSPO with an iterative operation. In this tuning method, the rewards of reinforcement learning (RL) are set minus tracking errors of states, and the action of RL is a change of control gain to maximize rewards whenever the iteration number of movements increases. The simple motion test for a 7-DOF robot arm was simulated in MATLAB program to prove this RL tuning algorithm. The simulation showed that this method can automatically tune the control gains for SMCSPO.