• Journal of Korean Society of Coastal and Ocean Engineers
• /
• v.22 no.2
• /
• pp.120-125
• /
• 2010

A Monte-Carlo simulation method is proposed which can take uncertainties of scale and location parameters of Gumbel distribution into account straightforwardly in evaluating significant design wave heights with respect to return periods. The uncertainties of design wave heights may directly depend on the amounts of uncertainties of scale parameter and those distributions may be followed by Gumbel distribution. In case of that the expected values of maximum significant wave height during lifetime of structures are considered to be the design wave heights, more uncertainties are happened than in those evaluated according to return periods with encounter probability concepts. In addition, reliability analyses on the armor units are carried out to investigate into the effects of the uncertainties of design wave heights on the probability of failure. The failure probabilities of armor units to 5% damage level for 50 return periods are evaluated and compared according to the methods of taking uncertainties of design wave heights into account. It is found that the probabilities of failure may be distributed into wide ranges of bounds when the uncertainties of design wave heights are assumed to be same as those of annual maximum significant wave heights.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.710-713
• /
• 2005

In this paper, a design method to detect faults in plants with uncertainties is proposed. When a plant has faults, the plant will be corrupted by an unknown fault signal. In addition, the plant also includes uncertainties, such as disturbances and plant parameter deviations. In this case, the proposed method estimates the fault signal by using an adaptive observer. Numerical examples are given to demonstrate the validity of the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.48.2-48
• /
• 2001

This paper deals with robust integral tracking control problem based on Lyapunov method via FL(Feedback Linearization) in order to solve a reference tracking problem of nonlinear system with parameter uncertainties. To overcome a restrictive matching condition the uncertainties is characterized in a suitable form. The design procedure which combine FL and LMIs(Linear Matrix Inequalities) based on Lyapunov method to achieve the robust performance and stability is developed. Finally, the performance of proposed controller is demonstrated via simulation of a linear reference tracking problem in the MLS(Magnetic levitating System).

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1477-1480
• /
• 1997

This paper is concerned with the design of a suboptimal robust Kalman filter using LMI approach for system models in the state space, which are subjected to parameter uncertainties in both the state and measurement atrices. Under the assumption that augmented system composed of the uncertain system and the state estimation error dynamics should be stable, a Lyapunov inequality is obtained. And from this inequaltiy, the filter design problem can be transformed to the gneric LMI problems i.e., linear objective minimization problem and generalized eigenvalue minimization problem. When applied to uncertain linear system modles, the proposed filter can provide the minimum upper bound of the estimation error variance for all admissible parameter uncertainties.

• Proceedings of the KSME Conference
• /
• 2004.11a
• /
• pp.782-787
• /
• 2004

In the conventional sliding mode control technique, a priori knowledge of the bound of external disturbances or/and parameter uncertainties is required to assure control robustness. This, however, may not be easy to obtain in practical situation. This work presents a novel methodology, a sliding mode controller with perturbation estimator, which offers a robust control performance without a priori knowledge about the perturbations (disturbances and parameter uncertainties). The proposed technique is featured by an integrated average value of the imposed perturbation over a certain sampling period. This work also proposes two effective actuating methods of the perturbation estimator: on-off condition and filtering condition. In order to demonstrate the effectiveness of the proposed methodology, a two-link robotic system is adopted and its position control performance is evaluated. In addition, a comparative work between the conventional technique and the proposed one is undertaken.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.63 no.9
• /
• pp.1245-1247
• /
• 2014

This paper presents a robust position tracking controller for motor-driven flexible joint manipulators using only the motor angle measurement. The control problem is not easy because the link position is hard to estimate in the presence of parameter uncertainties. The proposed controller consists of a feedback linearization controller (FLC) and two proportional-integral observers (PIOs) that estimate both system states including the link position and an equivalent disturbance for compensating the parameter uncertainties. Comparative computer simulations are conducted to demonstrate the effectiveness of the proposed control algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.598-603
• /
• 2005

In this study, an adaptive control scheme with a pre-specified $H_{\infty}$ property is proposed for the tracking control of linear induction motor (LIM) drive system. Under the influence of uncertainties and external disturbances, by using nonlinear decoupling and parameter tuner, the robust performance control problem is formulated as a nonlinear $H_{\infty}$ problem and solved by a quadratic storage function. This new design method is able to track the step and several periodic commands with improved performance in face of parameter perturbations and external disturbances. Simulation and experimental results are provided to demonstrate the effectiveness of the proposed adaptive $H_{\infty}$ controller.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.26 no.9
• /
• pp.1859-1865
• /
• 2002

In the conventional sliding mode control technique, a priori knowledge of the bound of external disturbances or/and parameter uncertainties is required to assure control robustness. This, however, may not be easy to obtain in practical situation. This work presents a novel methodology, a sliding mode controller with perturbation estimator, which offers a robust control performance without a priori knowledge about the perturbations (disturbances and parameter uncertainties). The proposed technique is featured by an integrated average value of the imposed perturbation over a certain sampling period. In order to demonstrate the effectiveness of the proposed methodology, a two-link robotic system is adopted and its position control performance is evaluated. In addition, a comparative work between the conventional technique and the proposed one is undertaken.

• Proceedings of the KIEE Conference
• /
• 2002.07d
• /
• pp.2037-2039
• /
• 2002

This paper focuses on robust $H_{\infty}$ control for bilinear systems with time-varying parameter uncertainties via state feedback. The suitable robustly stabilizing feedback control law can be constructed in term of solution to a state variable x-dependent quadratic Riccati equation using successive approximation technique. Also, the state feedback control law robustly stabilizes the plant and guarantees a robust $H_{\infty}$ performance for the closed-loop bilinear system with parameter uncertainties and exogenous disturbance.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.52 no.7
• /
• pp.385-392
• /
• 2003

A nonlinear speed controller for a separately excited DC motor (SEDCM) based on a newly developed adaptive backstepping approach is presented. To compensate parameter uncertainties and load torque disturbance, a nonlinear adaptive backstepping control law and adaptive law are derived systematically step by step through virtual control input and suitable Lyapunov function. Also, speed observer without using costly speed sensor is presented. Simulation results show that the proposed controller can observe real speed and track the reference speed signal generated by a reference model.