• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.387-396
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• 2005

The Rotational/Translational Actuator (RTAC) benchmark problem considers a fourth-order dynamical system involving the nonlinear interaction of a translational oscillator and an eccentric rotational proof mass. This problem has been posed to investigate the utility of a rotational actuator for stabilizing translational motion. In order to experimentally implement any of the model-based controllers proposed in the literature, the values of model parameters are required which are generally difficult to determine rigorously. In this paper, an approach to the least-squares estimation of the parameters of a system is formulated and practically applied to the RTAC system. On the other hand, this paper shows how to model a nonlinear system as a linear uncertain system via nonparametric system identification, in order to provide the information required for linear robust $H_\infty$ control design. This method is also applied to the RTAC system, which demonstrates severe nonlinearities, due to the coupling from the rotational motion to the translational motion. Experimental results confirm that this approach can effectively condense the whole nonlinearities, uncertainties, and disturbances within the system into a favorable perturbation block.

• Journal of Aerospace System Engineering
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• v.13 no.5
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• pp.9-15
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• 2019

In this paper, dynamic analysis of a nonlinear active vibration absorber is conducted with a time delay acceleration feedback to suppress the vibration of a nonlinear single degree of freedom primary system. The primary system consisting of linear and nonlinear cubic springs, mass, and damper is subjected to the multi-harmonic hard excitation with a parametric excitation. It is proposed to reduce the vibration of the primary system and the absorber by using a lead zirconate titanate (PZT) stack actuator in series with a spring in the absorber which configures as an active vibration absorber. The method of multiple scales (MMS) is used to obtain the approximate solution of the system under the internal resonance, subharmonic, superharmonic, and principal parametric resonance conditions simultaneously. Frequency and time responses of the system are investigated considering a delay in the feedback for the various parameters of the absorber configuration and controlling force.

• Journal of Drive and Control
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• v.18 no.4
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• pp.59-64
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• 2021

In this paper, a mathematical pressure dynamics model for a variable thrust solid propulsion system with an electric actuator was derived from the mass conservation of gas. To solve the problem induced by modeling uncertainties in the propellant model and the dead zone of the actuator, a nonlinear pressure controller combined with a nonlinear disturbance observer was designed using a mathematical model of the system. The simulation results showed that the proposed pressure controller could reduce tracking errors compared to another conventional nonlinear controller even in situations where input disturbances were present.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.2
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• pp.54-59
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• 2005

Nonlinear aeroelastic analyses of a missile control fin are performed considering backlash and dynamic stiffness of actuator. Doublet-Hybrid method is used for the calculation of subsonic unsteady aerodynamic forces, and aerodynamic forces are approximated by the minimum-state approximation. For nonlinear flutter analysis backlash is represented by a free-play and is linearized by using the describing function method. Also, dynamic stiffness is function of frequency and is calculated by solving equation of motion for actuator. The linear and nonlinear flutter analyses show that the aeroelastic characteristics are significantly dependent on the backlash and dynamic stiffness. From the nonlinear flutter analysis, various types of limit cycle oscillations are observed in a range of air speeds below the linear divergent flutter boundary. The nonlinear flutter characteristics and the nonlinear aeroelastic responses are also investigated in the time domain.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.822-826
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• 2013

In this paper, we propose an AFDO (Adaptive Fault Diagnosis Observer) and a fault tolerant controller for a class of nonlinear continuous-time system under the nonlinear abrupt actuator faults. Together with its estimation laws, the AFDO which estimates that the actuator faults is designed by using the Lyapunov analysis. Then, based on the designed AFDO, an adaptive sliding mode controller is proposed as the fault tolerant controller. Using Lyapunov stability analysis, we also prove the uniform boundedness of the state, the output and the fault estimation errors, and the asymptotic stability of the tracking error under the nonlinear time-varying faults. Finally, we illustrate the effectiveness of the proposed diagnosis method and the control scheme thorough computer simulations.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2534-2536
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• 2005

In this paper, we apply sliding control law to a nonlinear electro-hydraulic suspension system. The force the actuator must track is determined by the skyhook control law and the desired force value varies according to the road situation. The road frequencies can inform us of the current road situation. Detecting the road frequencies, we use the Fourier Transform.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.4
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• pp.7-13
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• 1998

The gloval model is developed by combining this actuator formular with robot manipulator which is reported previously . The model initially represented in the form of coupled time-varying nonlinear dynamic system. It then decomposed into the decoupled linear model using nonlinear feedback and state transformation techniques. The new model employes the pole replacement method to improve the stability of the system. Using this new model, an robust control algorithm is developed. The proposed algorithm takes two state variables, position vector and velocity vector, and one input variable from actuator, input voltage.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.275-280
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• 1999

This paper presents a disturbance accommodating sliding mode control for a quarter-car active suspension using an electro-hydraulic actuator. The electro-hydraulic actuator model is nonlinear and uncertain. The hardware constrains on the actuator prevent high gain in a sliding mode control, which deteriorates the force tracking performance. DAC(Disturbance Accommodating Control) is combined with the sliding mode control to improve the tracking performance. DAC observer estimates the pressure due to the actuator uncertainty. The additional control is designed to compensate the estimated pressure. Simulation results show the improved tracking performance with the Proposed control methods.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.3
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• pp.156-165
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• 1997

In the practical control systems, the dynamic range of actuatiors is limited(or saturated) when actuators are driven by sufficiently large signals. This gives rise to a nonlinearity as a result of actuator saturation. For example, the upper limit is imposed on productive capability by available factory space and capital equipment. Other examples of those kinds of actuator saturations are a maximum torque of the actua- ting motors and a throttle position in an aircraft speed control A saturating actuator may lead not only to a large overshoot during start-up and shut-down, but also to deterioration of the performance due to the uncertainties. That is, the speed of response is decreased and, possibly, the system output may not follow the lalrge reference inputs. The large-overshoot may be accompanied by rest wind-up(or called by integra- tor wind-up) which comes from controllers with integral action in saturation operation regions. Eventually, as the overshoot increases, the system has a limit cycle or becomes oscillatorily unstable. Due to these cir- cumstances, many studies are focused on the stability and robustness of the nonlinear systems with satu- rating actuator in the time-domain as well as in the frequency-domain.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.7
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• pp.537-543
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• 2000

mathematical models for a hydraulic brake actuator and a brake control law for vehicle collision warning/collision avoidance (CW/CA) systems will be presented in this paper. The control law have been designed for optimzied safety and comfort. A solenoid-valve-controlled hydraulic brake actuator system for the CW/CA systems has been investigated, A nonlinear computer model and a linear model of the hydraulic brake actuator system have been developed. Both models were found to represent the actual system with good accuracy. Uncertainties in the brake actuator model have been considered in the design of the control law for the roubustness of the controller. The effects of brake control on CW/CA vehicle response has been investigated via simulations. The simulations were performed using the hydraulic brake system model and a complete nonlinear vehicle model. The results indicate that the proposed brake control law can provide the CW/CA vehicles with an opimized compromise between safety and comfort.