• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2707-2712
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• 2003

In this paper, with the utilization of a three-dimensional version of Leibniz’s rule, the procedure of deriving the time rate of change of an energy functional for axially moving continua is investigated. It will be shown that the method in [14], which describes the way of getting the time rate of change of an energy functional in Eulerian description, and subsequent results in [10, 11] are not complete. The key point is that the time derivatives at boundaries in the Eulerian description of axially moving continua should take into account the velocity of the moving material itself. A noble way of deriving the time rate of change of the energy functional is proposed. The correctness of the proposed method has been confirmed by other approaches. Two examples, one-dimensional axially moving string and beam equations, are provided for the purpose of demonstration. The results following the procedure proposed and the results in [14] are compared.

• Journal of the Korean Society of Safety
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• v.14 no.2
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• pp.42-51
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• 1999

This research deals with the non-linearities associated with impact and sliding for the rocking behavior of rigid block subjected to two dimensional excitation of horizontal and vertical direction. The non-linearities examined of impact between block and base: The transition of two governing rocking equations, the abrupt reduction in kinetic energy associated with impact. In this study, the rocking vibration system of two types are considered for several friction condition. One is the undamped rocking vibration system, disregarding energy dissipation at impact and the other is the damped rocking system, including energy dissipation at impact. The response analysis by non-dimensional rocking equation is carried out for the change of excitation amplitude. The chaos responses were discovered in the wide response region, particularly, in the case of high vertical excitation and their chaos characteristics are examined by Poincare map, power spectra and Lyapunov Exponent. The complex behavior of chaos response, in the phase space, were illustrated by Poincare map. Therefore, Poincare map will be a significant material in order to understand chaos of rocking system.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.547-558
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• 2007

This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has been achieved using Energy Shaping and damping injection and Backstepping technique. Former results in hybrid or switching architectures that make stability analysis complicated whereas use of backstepping some times requires closed form explicit solutions of highly nonlinear equations resulting from partial feedback linearization. It also exhibits the phenomenon of explosions of terms resulting in a highly complicated control law. Exploiting recently introduced Dynamic Surface Control technique and using control Lyapunov function method, a novel nonlinear controller design is presented as a solution to these problems. The stability of the closed loop system is analyzed by exploiting its two-time scale nature and applying concepts from Singular Perturbation Theory. The design procedure is shown to be simpler and more intuitive than existing designs. Design has been applied to important benchmark systems belonging to the class demonstrating controller design simplicity. Advantages over conventional Energy Shaping and Backstepping controllers are analyzed theoretically and performance is verified using numerical simulations.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.3
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• pp.73-82
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• 1992

An industrial robot, installed real manufacturing processes an element of the system autmation, can be considered as an uncertain system due to dynamic uncertainties in inertial parameters and varying payloads. Most difficuties in controlling a robot manipulator are caused by the fact that the dynamic equations describing the motions of the manipulator are inherently nonlinear and heavily coupled effects between joints and associated links. Existing robot conrol systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severly limited in range of application, speed of operation and variation of payload. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the desinger. The proposed manipulator studied has two loops, an inner loop of model reference adaptive controller and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstailiy approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in practical working environment, various load variations and parameter uncertainties.

• Nuclear Engineering and Technology
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• v.54 no.5
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• pp.1644-1651
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• 2022

This paper focuses on the power-level control of nuclear power plants (NPPs) in the presence of lumped disturbances. An adaptive second-order nonsingular terminal sliding mode control (ASONTSMC) scheme is proposed by resorting to the second-order nonsingular terminal sliding mode. The pre-existing mathematical model of the nuclear reactor system is firstly described based on point-reactor kinetics equations with six delayed neutron groups. Then, a second-order sliding mode control approach is proposed by integrating a proportional-derivative sliding mode (PDSM) manifold with a nonsingular terminal sliding mode (NTSM) manifold. An adaptive mechanism is designed to estimate the unknown upper bound of a lumped uncertain term that is composed of lumped disturbances and system states real-timely. The estimated values are then added to the controller, resulting in the control system capable of compensating the adverse effects of the lumped disturbances efficiently. Since the sign function is contained in the first time derivative of the real control law, the continuous input signal is obtained after integration so that the chattering effects of the conventional sliding mode control are suppressed. The robust stability of the overall control system is demonstrated through Lyapunov stability theory. Finally, the proposed control scheme is validated through simulations and comparisons with a proportional-integral-derivative (PID) controller, a super twisting sliding mode controller (STSMC), and a disturbance observer-based adaptive sliding mode controller (DO-ASMC).

• Journal of Advanced Navigation Technology
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• v.22 no.6
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• pp.630-635
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• 2018

In this paper, we consider the stability condition for the linear discrete systems with time-varying delay and unstructured uncertainty. The considered system has time invariant system matrices for non-delayed and delayed state variables, but its delay time is time-varying within certain interval and it is subjected to nonlinear unstructured uncertainty which only gives information on uncertainty magnitude. In the many previous literatures, the time-varying delay and unstructured uncertainty can not be dealt in simultaneously but separately. In the paper, new stability conditions are derived for the case to which two factors are subjected together and compared with the existing results considering only one factor. The new stability conditions improving many previous results are proposed as very effective inequality equations without complex numerical algorithms such as LMI(Linear Matrix Inequality) or Lyapunov equation. By numerical examples, it is shown that the proposed conditions are able to include the many existing results and have better performances in the aspects of expandability and effectiveness.