• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.169-175
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• 2002

A sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is performed for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.543-547
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• 2005

In this paper, we designed a intelligent autonomous driving robot by using Fuzzy algorithm. The object of designed robot is recognition of obstacle, avoidance of obstacle and safe arrival. We append a suspension system to auxiliary wheel for improvement in stability and movement. The designed robot can arrive at destination where is wanted to go by the old and the weak and the handicapped at indoor hospital and building.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.92.1-92
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• 2001

Sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is taken for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.410-415
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• 2013

This paper proposes a bidirectional platoon control law using a coupled distance error based on the backstepping-like feedback linearization control method for an interconnected mobile agent system with a string structure. Unlike the previous results where the single agent was controlled using the only own information without other agents, the proposed control law cannot show the only distance error convergence of each agent, but also the string stability of the whole system. Also, the control performances are improved by the proposed control law in spite of low performance of bidirectional control strategy in the previous results. The proposed bidirectional platoon control algorithm is based on the backstepping-like feedback linearization control method. The position errors between each agent and the preceding and the behind agents are coupled by weighted summation. By the proposed control law, the distance error of each agent can converge to zero while the string stability is guaranteed when the coupled errors can converge to zero. To this end, the back-stepping control method is employed. The pseudo velocity input is determined considering the kinematic relationship between agents and the string stability. Then, the actual dynamic control input is determined to make the actual velocity converge to the pseudo velocity input. The stability analysis and the simulation results of the proposed method are included in order to demonstrate the practical application of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.8
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• pp.703-710
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• 2004

This paper presents discontinuous zigzag gait analysis for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. An articulated spine walking robot can move easily from side to side, which is an important feature to guarantee a larger gait stability margin than that of a conventional single rigid-body walking robot. First, we suggest a kinematic modeling of an articulated spine robot which has new parameters such as a waist-joint angle, a rotate angle of a front and rear body and describe characteristics of gait using an articulated spine. Next, we compared the difference of walking motion of newly modeled robot with that of a single rigid-body robot and analyzed the gait of an articulated spine robot using new parameters. On the basis of above result, we proposed a best walking motion with maximum stability margin. To show the effectiveness of proposed gait planning by simulation, firstly the fastest walking motion is identified based on the maximum stride, because the longer the stride, the faster the walking speed. Next, the gait stability margin variation of an articulated spine robot is compared according to the allowable waist-joint angle.

• Geomechanics and Engineering
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• v.18 no.6
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• pp.595-603
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• 2019

A modified model combining Kriging and Monte Carlo method (MC) is proposed for probabilistic estimation of tunnel face stability in this paper. In the model, a novel uniform design is adopted to train the Kriging, instead of the existing active learning function. It has advantage of avoiding addition of new training points iteratively, and greatly saves the computational time in model training. The kinematic approach of limit analysis is employed to define the deterministic computational model of face failure, in which the Hoek-Brown failure criterion is introduced to account for the nonlinear behaviors of rock mass. The trained Kriging is used as a surrogate model to perform MC with dramatic reduction of calls to actual limit state function. The parameters in Hoek-Brown failure criterion are considered as random variables in the analysis. The failure probability is estimated by direct MC to test the accuracy and efficiency of the proposed probabilistic model. The influences of uncertainty level, correlation relationship and distribution type of random variables are further discussed using the proposed approach. In summary, the probabilistic model is an accurate and economical alternative to perform probabilistic stability analysis of tunnel face excavated in spatially random Hoek- Brown media.

• Structural Engineering and Mechanics
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• v.81 no.6
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• pp.769-780
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• 2022

This paper studies the dynamic behavior of laminated composite circular cylindrical shells interacting with a fluid. The mathematical formulation of the dynamic problem for an elastic body is developed based on the variational principle of virtual displacements and the relations of linear elasticity theory. The behavior of an ideal compressible fluid is described by the potential theory, the equations of which together with boundary conditions are transformed to a weak form. The hydrodynamic pressure exerted by the fluid on the internal surface of the shell is calculated according to the linearized Bernoulli equation. The numerical implementation of the mathematical formulation has been done using the semi-analytical finite element method. The influence of the ply angle and lay-up configurations of laminated composites on the natural vibration frequencies and the hydroelastic stability boundary have been analyzed for shells with different geometrical dimensions and under different kinematic boundary conditions set at their edges. It has been found that the optimal value of the ply angle depends on the level of filling of the shell with a fluid. The obtained results support the view that by choosing the optimal configuration of the layered composite material it is possible to change upwards or downwards the frequency and mode shape, as well as the critical velocity for stability loss over a wide range.

• Transactions of the KSME C: Technology and Education
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• v.3 no.2
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• pp.125-130
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• 2015

Using flexible multibody system dynamic method, the rigid-flexible coupling multibody dynamic analysis model of the drum brake system was developed, and the kinematic and dynamic simulation of the system was processed as its object of study. Simulations show that the friction will increase with the dynamic friction coefficient, but high dynamic friction coefficient will cause the abnormal vibration and worsen the stability of the brake system, even the stability of the whole automobile. The modeling of flexible multi-body can effectively analyze and solve complex three-dimensional dynamic subjects of brake system and evaluate brake capability. Further research and study on this basis will result in a convenient and effective solution that can be much helpful to study, design and development of the brake system.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.4
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• pp.191-202
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• 2013

A control structure that makes possible the integration of a kinematic controller and a fuzzy logic (FL) deadzone compensator for mobile robots is presented. A tuning algorithm is given for the fuzzy logic parameters, so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The fuzzy logic deadzone compensator is implemented on a mobile robot to show its efficacy.

• Korea-Australia Rheology Journal
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• v.12 no.2
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• pp.119-124
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• 2000

Employing the Phan-Thien tanner (PTT) fluids model, dynamic behavior of the non-isothermal melt spinning has been investigated. Subjects such as draw resonance instability, the effects of spinline cooling and of the fluid viscoelasticity on the spinning dynamics have been studied using the governing equations of the system. In particular, the draw resonance criterion based on the traveling times of various kinematic waves in the spinline has been confirmed, the reason why the spinline cooling is stabilizing is analyzed, and the effect of fluid viscoelasticity on the spinline stability is summarized. It is believed that the same method as in this study can be applied with equal ease to other extension deformation processes like film casting and film blowing.