• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1060-1065
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• 2005

An Independent Administrative Corporation Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is developing light-and-small Autonomous Underwater Vehicles (AUV)$^{1)}$, named 'MR-X1' (Marine Robot Experimental 1), which can cruise, investigate and observe by itself without human's help. In this paper, we consider the motion control problem of 'MR-X1' and derive a controller. Since the dynamic property of 'MR-X1' is changed by the influence of the speed, the mathematical model of 'MR-X1' becomes the nonlinear model. In order to design a controller for 'MR-X1', we generally apply nonlinear control theories or linear control theories with some constant speed situation. If we design a controller by applying Linear Quadratic (LQ) optimal control theory, the obtained controller only compensates t e optimality at the designed speed situation, and does not compensate the stability at another speed situations. This paper proposes a controller design method using Linear Matrix Inequalities (LMIs)$^{2),3),4)}$, which can adapt the speed variation of 'MR-X1'. And examples of numerical analysis using our designed controller are shown.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.162-169
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• 1999

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator using digital Signal Processors. Digital signal processors DSPs. are micro-processors that are particularly developed for variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a biable computatinal tool in digital implementation of sophisticated controllers. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. The proposed adaptive-neuro control scheme is illustrated to be a efficient control scheme for implementation of real-time control of robot system by the simulation and experiment.

• Advances in nano research
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• v.7 no.1
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• pp.25-38
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• 2019

This research is aimed at studying the asymmetric thermal buckling of porous functionally graded (FG) annular nanoplates resting on an elastic substrate which are made of two different sets of porous distribution, based on nonlocal elasticity theory. Porosity-dependent properties of inhomogeneous nanoplates are supposed to vary through the thickness direction and are defined via a modified power law function in which the porosities with even and uneven type are approximated. In this model, three types of thermal loading, i.e., uniform temperature rise, linear temperature distribution and heat conduction across the thickness direction are considered. Based on Hamilton's principle and the adjacent equilibrium criterion, the stability equations of nanoporous annular plates on elastic substrate are obtained. Afterwards, an analytical solution procedure is established to achieve the critical buckling temperatures of annular nanoplates with porosities under different loading conditions. Detailed numerical studies are performed to demonstrate the influences of the porosity volume fraction, various thermal loading, material gradation, nonlocal parameter for higher modes, elastic substrate coefficients and geometrical dimensions on the critical buckling temperatures of a nanoporous annular plate. Also, it is discussed that because of present of thermal moment at the boundary conditions, porous nanoplate with simply supported boundary condition doesn't buckle.

• Structural Engineering and Mechanics
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• v.85 no.6
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• pp.765-780
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• 2023

In this work, a novel combined logarithmic, secant and tangential 2D and quasi-3D refined higher order shear deformation theory is proposed to examine the buckling analysis of simply supported uniform functionally graded plates under uniaxial and biaxial loading. The proposed formulations contain a reduced number of variables compared to others similar solutions. The combined function employed in this study ensures automatically the zero-transverse shear stresses at the free surfaces of the structure. Various models of the material distributions are considered (linear, quadratic, cubic inverse quadratic and power-law). The differentials stability equations are derived via virtual work principle with including the stretching effect. The Navier's approach is applied to solve the governing equations which satisfying the boundary conditions. Several comparative and parametric studies are performed to illustrates the validity and efficacity of the proposed model and the various factors influencing the critical buckling load of thick FG plate.

• Advances in nano research
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• v.8 no.3
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• pp.255-264
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• 2020

Buckling and post-buckling cases are often occurred in aorta artery because it affected by higher pressure. Also, its stability has a vital importance to humans and animals. The loss of stability in arteries may lead to arterial tortuosity and kinking. In this paper, post-buckling analysis of aorta artery is investigated under axial compression loads on the basis of Euler-Bernoulli beam theory by using finite element method. It is known that post-buckling problems are geometrically nonlinear problems. In the geometrically nonlinear model, the Von Karman nonlinear kinematic relationship is employed. Two types of support conditions for the aorta artery are considered. The considered non-linear problem is solved by using incremental displacement-based finite element method in conjunction with Newton-Raphson iteration method. The aorta artery is modeled as a cylindrical tube with different average diameters. In the numerical results, the effects of the geometry parameters of aorta artery on the post-buckling case are investigated in detail. Nonlinear deflections and critical buckling loads are obtained and discussed on the post-buckling case.

• Steel and Composite Structures
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• v.2 no.3
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• pp.209-222
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• 2002

This paper describes the buckling phenomenon of a tubular truss with unsupported length through a full-scale test and presents a practical computational method for the design of the trusses allowing for the contribution of torsional stiffness against buckling, of which the effect has never been considered previously by others. The current practice for the design of a planar truss has largely been based on the linear elastic approach which cannot allow for the contribution of torsional stiffness and tension members in a structural system against buckling. The over-simplified analytical technique is unable to provide a realistic and an economical design to a structure. In this paper the stability theory is applied to the second-order analysis and design of the structural form, with detailed allowance for the instability and second-order effects in compliance with design code requirements. Finally, the paper demonstrates the application of the proposed method to the stability design of a commonly adopted truss system used in support of glass panels in which lateral bracing members are highly undesirable for economical and aesthetic reasons.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.528-530
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• 1999

This paper addresses the analysis and design of fuzzy control systems for a class of complex single input single output nonlinear systems. Firstly, the nonlinear system is represented by well-known Takagai-Sugeno (TS) fuzzy model and the global controller is constructed by compensating each linear model in the rule of TS fuzzy model. The design of conventional TS fuzzy-model-based controller usually is composed of two processes. One is to determine static state feedback gain of each local model and the other is to validate the stability of the designed fuzzy controller. In this paper, we propose an alternative of the design of TS fuzzy-model-based controller. The design scheme is based on the extension of conventional optimal control theory to the design of TS fuzzy-model-based controller. By using the proposed method the design and stability analysis of the TS fuzzy model-based controller is reduced to the problem of finding the solution of a set of algebraic Riccati equations. And we use the recently developed interior point method to find the solution of AREs, where AREs are recast as the LMI formulation. One simulation example is given to show the effectiveness and feasibility of the proposed fuzzy controller design method.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.2
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• pp.68-73
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• 2000

This paper addresses the analysis and design of fuzzy control systems for a class of complex nonlinear systems. Firstly, the nonlinear system is represented by Takagi-Sugeno(TS) fuzzy model and the global controller is constructed by compensating each linear model in the rule of TS fuzzy model. The design of conventional TS fuzzy-model-based controller is composed of two processes. One is to determine the static state feedback gain of each local model and the other is to validate the stability of the designed fuzzy controller. In this paper, we propose an alternative methods for the design of TS fuzzy-model-based controller. The design scheme is based on the extension of conventional optimal control theory to the design of TS fuzzy-model-based controller. By using the proposed method, the design and stability analysis of the TS fuzzy model-based controller is reduced to the problem of finding the solution of a set of algebraic Riccati equations. And we use the recently developed interior point method to find the solution of AREs, where AREs are recast as the LMI formulation. A numerical simulation example is given to show the effectiveness and feasibiltiy of the proposed fuzzy controller design method.

• The Magazine of the Society of Air-Conditioning and Refrigerating Engineers of Korea
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• v.13 no.4
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• pp.215-222
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• 1984

An analytical study on the thermal instability of fluid in a vertical solt between two permeable walls has been carried out using fast converging power series solution method. For given values of prandtl number Pr and permeability paramter ${\sigma}$, the critical Grashof number $Gr_c$ and the critical wave number ac are found as eigenvalues of the problem formulated by the stability equations and the appropriate boundary conditions which are derived on the basis of linear stability theory. In the case of ${\sigma}\;>\;10^4$, the results approach those of solid boundary case, but in the case of ${\sigma}\;<\;10^3$, the decrease of $Gr_c$ and $a_c$become more prominent. In other words, the permeable walls cause the flow to be more unstable than the solid walls. This is considered to be due to the slip of the fluid on the wail, which decrease the friction force.

• Advances in aircraft and spacecraft science
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• v.11 no.1
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• pp.55-81
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• 2024

This paper presents the exact solutions and closed forms for of nonlinear stability and vibration behaviors of straight and curved beams with nonlinear viscoelastic boundary conditions, for the first time. The mathematical formulations of the beam are expressed based on Euler-Bernoulli beam theory with the von Karman nonlinearity to include the mid-plane stretching. The classical boundary conditions are replaced by nonlinear viscoelastic boundary conditions on both sides, that are presented by three elements (i.e., linear spring, nonlinear spring, and nonlinear damper). The nonlinear integro-differential equation of buckling problem subjected to nonlinear nonhomogeneous boundary conditions is derived and exactly solved to compute nonlinear static response and critical buckling load. The vibration problem is converted to nonlinear eigenvalue problem and solved analytically to calculate the natural frequencies and to predict the corresponding mode shapes. Parametric studies are carried out to depict the effects of nonlinear boundary conditions and amplitude of initial curvature on nonlinear static response and vibration behaviors of curved beam. Numerical results show that the nonlinear boundary conditions have significant effects on the critical buckling load, nonlinear buckling response and natural frequencies of the curved beam. The proposed model can be exploited in analysis of macrosystem (airfoil, flappers and wings) and microsystem (MEMS, nanosensor and nanoactuators).