• The Transactions of the Korean Institute of Power Electronics
• /
• v.15 no.4
• /
• pp.282-287
• /
• 2010

This paper proposes a new nonlinear speed controller with a fuzzy load torque observer based on the Takagi-Sugeno fuzzy method for a permanent magnet synchronous motor(PMSM). The LMI conditions are derived for the existence of the proposed nonlinear speed controller and fuzzy load torque observer, and the LMI parameterization to obtain the gain matrices of the controller and observer is given. In this paper, to verify the performance of the proposed nonlinear speed controller and fuzzy load torque observer, and the simulation and experimental results are demonstrated under motor parameter and load torque variations.

• Journal of Ocean Engineering and Technology
• /
• v.11 no.4
• /
• pp.111-121
• /
• 1997

The spectral energy balance model is composed and the nonlinear interaction is approximated by the discrete interaction parameterization as in WAM model. The numerical results of durational limited growth test agree very well with those of the exact model, EXACT-NL. The response of a wave spectrum to a change in wind direction is investigated numerically for a sequence of direction changes 30$^{\circ}$ , 45$^{\circ}$ , 60$^{\circ}$ , 90$^{\circ}$ . The high frequency components relax more repidly to the new wind direction than the low frequency components and the relaxation process also depends on the wave age. For wind direction changes less than 60$^{\circ}$ , the coupling by nonlinear interaction is so strong that the secondary peak in input source distribution is counteracted by the negative lobe of the nonlinear interaction. For wind direction changes grater than 60$^{\circ}$ , a second independent wind-sea spectrum is generated in the new wind direction, while the old spectrum gradually decays as swell.

• Journal of Astronomy and Space Sciences
• /
• v.26 no.4
• /
• pp.651-658
• /
• 2009

Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1996.10a
• /
• pp.158-161
• /
• 1996

A robust adaptive tracking control architecture is proposed for a class of continuous-time nonlinear dynamic systems for which an explicit linear parameterization of the uncertainty in the dynamics is either unknown or impossible. The architecture employs an adaptive fuzzy system to compensate for the uncertainty of the plant. In order to improve the robustness under approximation errors and disturbances, the proposed architecture includes deadzone in adaptation laws. Unlike the previously proposed schemes, the magnitude of approximate errors and disturbances is not required in the determination of the deadzone size, since it is estimated using the adaptation law. The proposed algorithm is proven to be globally stable in the Lyapunov sense, with tracking errors converging to the proposed architecture.

• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.53 no.8
• /
• pp.469-476
• /
• 2004

In this paper, a 3D shape optimization algorithm which guarantees a smooth optimal shape is presented using parameterized sensitivity analysis. The design surface is parameterized using Bezier spline and B-spline, and the control points of the spline are taken as the design variables. The parameterized sensitivity for the control points are found from that for nodal points. The design sensitivity and adjoint variable formulae are also derived for the 3D non-linear problems. Through an application to the shape optimization of 3D electromagnet to get a uniform magnetic field, the effectiveness of the proposed algorithm is shown.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.45 no.2
• /
• pp.273-282
• /
• 1996

This work is conceded with the estimation of output derivatives and their use for the design of robust controller for linear systems with system uncertainties due to modeling errors and disturbances. It is assumed that a nominal transfer function model and quantitative bounds for system uncertainties and known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted through restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Control)type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.12
• /
• pp.1193-1200
• /
• 2015

An effective swing trajectory of legged robots is different from the swing trajectories of humans or animals because of different dynamic characteristics. Therefore, it is important to find optimal parameters through experiments. This paper proposes a real-time nonlinear programming (RTNLP) method for optimization of the swing trajectory of the legged robot. For parameterization of the trajectory, the swing trajectory is approximated to parabolic and cubic spline curves. The robotic leg is position-controlled by a high-gain controller, and a cost function is selected such that the sum of the motor inputs and tracking errors at each joint is minimized. A simplified dynamic model is used to simulate the dynamics of a robotic leg. The purpose of the simulation is to find the feasibility of the optimization problem before an actual experiment occurs. Finally, an experiment is carried out on a real robotic leg with two degrees of freedom. For both the simulation and the experiment, the design variables converge to a feasible point, reducing the cost value.

• Journal of Navigation and Port Research
• /
• v.30 no.2
• /
• pp.137-143
• /
• 2006

The optimum grillage design belongs to nonlinear constrained optimization problem. The determination of beam scantlings for the grillage structure is a very crucial matter out of whole structural design process. The performance of optimization methods, based on penalty functions, is highly problem-dependent and many methods require additional tuning of some variables. This additional tuning is the influences of penalty coefficient, which depend strongly on the degree of constraint violation. Moreover, Binary-coded Genetic Algorithm (BGA) meets certain difficulties when dealing with continuous and/or discrete search spaces with large dimensions. With the above reasons, Real-coded Micro-Genetic Algorithm ($R{\mu}GA$) is proposed to find the optimum beam scantlings of the grillage structure without handling any of penalty functions. $R{\mu}GA$ can help in avoiding the premature convergence and search for global solution-spaces, because of its wide spread applicability, global perspective and inherent parallelism. Direct stiffness method is used as a numerical tool for the grillage analysis. In optimization study to find minimum weight, sensitivity study is carried out with varying beam configurations. From the simulation results, it has been concluded that the proposed $R{\mu}GA$ is an effective optimization tool for solving continuous and/or discrete nonlinear real-world optimization problems.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2002.04a
• /
• pp.543-550
• /
• 2002

This work is concerned with the estimation of output derivatives and their use for the design of robust controller for linear systems with systems uncertainties due to modeling errors and disturbance. It is assumed that a nominal transfer function model and Quantitative bounds for system uncertainties are known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted trough restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Controller) Type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.05a
• /
• pp.253-258
• /
• 2002

This work is concerned with the estimation of output derivatives and their use for the design of robust controller for linear systems with systems uncertainties due to modeling errors and disturbance. It is assumed that a nominal transfer function model and quantitative bounds for system uncertainties are known The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted trough restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Controller)Type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.