• International Journal of Control, Automation, and Systems
• /
• 제6권3호
• /
• pp.364-377
• /
• 2008

Due to the difficulty in solving the Hamilton-Jacobi-Isaacs equation, the nonlinear optimal control approach is not very practical in general. To overcome this problem, Ezal et al. (2000) first solved a linear optimal control problem for the linearized model of a nonlinear system given in the strict-feedback form. Then, using the backstepping procedure, a nonlinear feedback controller was designed where the linear part is same as the linear feedback obtained from the linear optimal control design. However, their construction is based on the cancellation of the high order nonlinearity, which limits the application to the smooth ($C^{\infty}$) vector fields. In this paper, we develop an alternative method for backstepping procedure, so that the vector field can be just $C^1$, which allows this approach to be applicable to much larger class of nonlinear systems.

• 오토저널
• /
• 제8권2호
• /
• pp.51-64
• /
• 1986

There has been considerable interest over the last twenty years in the subject of the elastic properties of the cord-rubber laminate. This has been due to the rather intensive study of the composites materials characteristics brought about by the increased use of rigid composites materials characteristics brought about by the increased use of rigid composites in many structural applications. The object of this study is to obtain the natural frequencies and modes of the simply supported cord-rubber laminate plates prior to the study on the analysis of the dynamic properties of the pneumatic tire. To obtain these natural frequencies and modes, the 12 degrees of freedom orthotropic rectangular plate finite elements are developed. By using classical lamination theory, the stress-strain relations are represented. The governing equation for the finite element is derived by energy method. To find the natural frequencies and modes, he eigenvalues and corresponding eigenvectors are computed by the well known Jacobi power method. In order to verify the capability of this present finite element, the results of the specially orthotropic plate and the angle-ply laminate plate are compared with the analytical solution. The analytical and numberical results are in good agreement. The following problems of the simply supported plate are analyzed by the present finite element. a) the natural frequencies and mode shapes of the cord-rubber laminate plate for various aspect ratio. b) The natural frequencies and mode shapes of the orthotropic plate with the rectangular hole in its center.

• 한국안전학회지
• /
• 제7권2호
• /
• pp.30-41
• /
• 1992

Analysis of Dynamic Characterisocs of Rectangular Plate by Finite Element Method. Dynamic characteristics of a rectangular plate with opening in it is studied by finite element method. To investigate these characteristics 12 degrees of freedom membrane finite element in used. The rectangular membrane finite elements are defined by specifying geometry, internal displacement functions and strain-displacement relations. Then, the governing equation for the finite element is derived by energy method. To derive the mass matrix and stiffness matrix of the element, expressions for strain and kineic energy in terms of the node displacement are generated. In constructing the overall structure matrix, the matrix of each elements are superposed and partitioned by applying the given boundary condition to obtain a nonslngular matrix. To find the natural freguencies and viration modes, the eigen values and the corresponding eigen vectors are computed by the computer using well known Jacobi power method. In order to verify the capability of the membrane finite element, a flat rectangular plate is analyzed first, and the result is compared with well known analytical results to show the good agreement. A rectangular plate with opening in It is analyzed with the same finite element. The results are presented in this paper. Unfortunately, the literature study could not provide with some results to compare, but the results reveal that the output of this research is phlslcally reasonable. And the results of this research are useful not only in practice but also for the future experimental research in comparison purpose.

• Journal of Electrical Engineering and Technology
• /
• 제13권4호
• /
• pp.1740-1751
• /
• 2018

This paper proposes a novel fault tolerant tracking control (FTTC) scheme for a class of nonlinear systems with actuator failures based on the policy iteration (PI) algorithm and the adaptive fault observer. The estimated actuator failure from an adaptive fault observer is utilized to construct an improved performance index function that reflects the failure, regulation and control simultaneously. With the help of the proper performance index function, the FTTC problem can be transformed into an optimal control problem. The fault tolerant tracking controller is composed of the desired controller and the approximated optimal feedback one. The desired controller is developed to maintain the desired tracking performance at the steady-state, and the approximated optimal feedback controller is designed to stabilize the tracking error dynamics in an optimal manner. By establishing a critic neural network, the PI algorithm is utilized to solve the Hamilton-Jacobi-Bellman equation, and then the approximated optimal feedback controller can be derived. Based on Lyapunov technique, the uniform ultimate boundedness of the closed-loop system is proven. The proposed FTTC scheme is applied to reconfigurable manipulators with two degree of freedoms in order to test the effectiveness via numerical simulation.

• Steel and Composite Structures
• /
• 제47권5호
• /
• pp.569-585
• /
• 2023

This paper proposes an efficient approach for the structural topology optimization of bi-directional functionally graded structures by incorporating popular radial basis functions (RBFs) into an implicit level set (ILS) method. Compared to traditional element density-based methods, a level set (LS) description of material boundaries produces a smoother boundary description of the design. The paper develops RBF implicit modeling with multiquadric (MQ) splines, thin-plate spline (TPS), exponential spline (ES), and Gaussians (GS) to define the ILS function with high accuracy and smoothness. The optimization problem is formulated by considering RBF-based nodal densities as design variables and minimizing the compliance objective function. A LS-RBF optimization method is proposed to transform a Hamilton-Jacobi partial differential equation (PDE) into a system of coupled non-linear ordinary differential equations (ODEs) over the entire design domain using a collocation formulation of the method of lines design variables. The paper presents detailed mathematical expressions for BiDFG beams topology optimization with two different material models: continuum functionally graded (CFG) and mechanical functionally graded (MFG). Several numerical examples are presented to verify the method's efficiency, reliability, and success in accuracy, convergence speed, and insensitivity to initial designs in the topology optimization of two-dimensional (2D) structures. Overall, the paper presents a novel and efficient approach to topology optimization that can handle bi-directional functionally graded structures with complex geometries.

• Structural Engineering and Mechanics
• /
• 제78권5호
• /
• pp.585-597
• /
• 2021

This paper presents a comparative study of analytical method, finite element method (FEM) and Multilayer Perceptron (MLP) for analysis of a contact problem. The problem consists of a functionally graded (FG) layer resting on a half plane and pressed with distributed load from the top. Firstly, analytical solution of the problem is obtained by using theory of elasticity and integral transform techniques. The problem is reduced a system of integral equation in which the contact pressure are unknown functions. The numerical solution of the integral equation was carried out with Gauss-Jacobi integration formulation. Secondly, finite element model of the problem is constituted using ANSYS software and the two-dimensional analysis of the problem is carried out. The results show that contact areas and the contact stresses obtained from FEM provide boundary conditions of the problem as well as analytical results. Thirdly, the contact problem has been extended based on the MLP. The MLP with three-layer was used to calculate the contact distances. Material properties and loading states were created by giving examples of different values were used at the training and test stages of MLP. Program code was rewritten in C++. As a result, average deviation values such as 0.375 and 1.465 was obtained for FEM and MLP respectively. The contact areas and contact stresses obtained from FEM and MLP are very close to results obtained from analytical method. Finally, this study provides evidence that there is a good agreement between three methods and the stiffness parameters has an important effect on the contact stresses and contact areas.

• 한국컴퓨터정보학회논문지
• /
• 제17권9호
• /
• pp.9-16
• /
• 2012

본 논문에서는 유한요소법에서 희소행렬의 효율적인 저장을 위한 2차원 가변길이 벡터 저장구조를 제안한다. 제안한 저장구조는 유한요소 전체 방정식의 거대희소행렬 $N{\times}N$ 대신, 전체 행의 개수 N의 상삼각행렬에서 0이 아닌 실제 필요한 값들만 2차원 가변길이 벡터를 이용하여 저장하는 방법이다. 이 방법을 이용하면, 해석대상의 2차원 격자구조에서는 각 절점당 최소 1개에서 최대 5개까지의 저장 공간이 필요하게 되고, 3차원 격자구조에서는 각 절점당 최소 1개에서 최대 14개까지의 저장 공간이 필요하게 된다. 인덱스를 포함해도 2배 이상을 넘지 않는다. 본 논문의 실험 결과에 의해, 제안한 저장구조는 총 절점 개수가 많아질수록 기존의 최대칼럼 높이를 저장하는 스카이 라인 저장구조보다 메모리 공간을 효과적으로 줄일 수 있는 구조임을 알 수 있었다.

• 한국전산구조공학회논문집
• /
• 제21권3호
• /
• pp.239-245
• /
• 2008

확장 B-스플라인 기저함수(extended B-spline basis functions)을 이용한 레벨셋 기반의 위상 형상 최적설계 기법을 정상 상태의 열전도 문제에 대하여 개발하였다. 본 해석법은 레벨셋으로 결정된 영역 안쪽만 고려하여 해석을 수행하게 되므로 열전달 문제에서 생길 수 있는 영역 바깥부분 영향을 제거할 수 있다. 설계민감도 해석으로부터 결정되는 법선속도를 활용하여 헤밀턴-자코비 방정식의 해를 구하게 되며, 주어진 체적조건 하에서 열 컴플라이언스(thermal compliance)가 최소가 되는 방향으로 최적의 형상을 결정할 수 있다. 형상 설계민감도를 정확하게 얻기 위해서는 레벨셋 함수와 B-스플라인 함수를 이용하여 수직 단위 벡터와 형상의 곡률을 정확히 결정하며, 위상 설계민감도를 통해 최적화과정 동안 필요한 위치와 시점에서 위상의 변화를 주는 홀을 쉽게 생성할 수 있다.

• Structural Engineering and Mechanics
• /
• 제19권4호
• /
• pp.425-440
• /
• 2005

In this paper, the behavior of a crack between two half-planes of functionally graded materials subjected to arbitrary tractions is resolved using a somewhat different approach, named the Schmidt method. To make the analysis tractable, it is assumed that the Poisson's ratios of the mediums are constants and the shear modulus vary exponentially with coordinate parallel to the crack. By use of the Fourier transform, the problem can be solved with the help of two pairs of dual integral equations in which the unknown variables are the jumps of the displacements across the crack surfaces. To solve the dual integral equations, the jumps of the displacements across the crack surfaces are expanded in a series of Jacobi polynomials. This process is quite different from those adopted in previous works. Numerical examples are provided to show the effect of the crack length and the parameters describing the functionally graded materials upon the stress intensity factor of the crack. It can be shown that the results of the present paper are the same as ones of the same problem that was solved by the singular integral equation method. As a special case, when the material properties are not continuous through the crack line, an approximate solution of the interface crack problem is also given under the assumption that the effect of the crack surface interference very near the crack tips is negligible. It is found that the stress singularities of the present interface crack solution are the same as ones of the ordinary crack in homogenous materials.

• 한국전산구조공학회논문집
• /
• 제27권1호
• /
• pp.9-16
• /
• 2014

레벨셋 기법과 위상민감도를 이용하여 선형 탄성 구조물에 대하여, 초기 설계형상에 의존성이 없는 위상 및 형상 최적설계 기법을 개발하였다. 레벨셋 기법에서는 복잡한 위상 형상변화를 쉽게 다루기 위해 초기 영역은 고정한 채 레벨셋 함수로 표현되는 암시적 이동경계로 경계를 표현한다. 해밀턴-자코비(H-J) 방정식과 수치적으로 강건한 기법인 'up-wind scheme'은 컴플라이언스 목적함수를 최소화시키고 허용체적 제약조건을 만족시키면서, 초기 암시적 경계를 법선 속도장에 따라 최적의 형상으로 이끌어 낸다. 점근적인 정규화 개념에 근거하여, 구멍의 반지름을 0으로 접근시켜 형상 미분의 극한을 취한 위상민감도를 고려하였다. 최적조건으로부터 유도된 라그란지안의 감소 방향을 이용하여 H-J 방정식을 갱신하기 위한 속도장을 결정하였다. 개발한 방법에서는 위상민감도로부터 얻어지는 지표를 이용하여 구멍을 언제든지 어디에서나 생성가능하기 때문에 초기 구멍이 최적 형상을 얻기 위해 요구되지 않는다는 사실을 확인하였다. 또한 효율적인 최적화 과정을 위해서는 구멍 생성을 위한 조정변수의 적절한 선택이 중요함을 확인하였다.