• International Journal of Control, Automation, and Systems
• /
• 제2권1호
• /
• pp.15-22
• /
• 2004

Some recent advances in stability and optimality for the nonlinear receding horizon control (NRHC) or the nonlinear model predictive control (NMPC) are assessed. The NRHCs with terminal conditions are surveyed in terms of a terminal state equality constraint, a terminal cost, and a terminal constraint set. Other NRHCs without terminal conditions are surveyed in terms of a control Lyapunov function (CLF) and cost monotonicity. Additional approaches such as output feedback, fuzzy, and neural network are introduced. This paper excludes the results for linear receding horizon controls and concentrates only on the analytical results of NRHCs, not including applications of NRHCs. Stability and optimality are focused on rather than robustness.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.180-185
• /
• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• Structural Engineering and Mechanics
• /
• 제5권5호
• /
• pp.565-576
• /
• 1997

The material-based homogenization design method generates arbitrary topologies of initial structural design as well as reinforcement structural design by controlling the amount of material available. However, if a small volume constraint is specified in the design of Lightweight structures, thin and slender structures are usually obtained. For these structures stability becomes one of the most important requirements. Thus, to prevent overall buckling (that is, to increase stability), the objective of the design is to maximize the buckling load of a structure. In this paper, the buckling analysis is restricted to the linear buckling behavior of a structure. The global stability requirement is defined as a stiffness constraint, and determined by solving the eigenvalue problem. The optimality conditions to update the design variables are derived based on the sequential convex approximation method and the dual method. Illustrated examples are presented to validate the feasibility of this method in the design of structures.

• 한국소음진동공학회논문집
• /
• 제22권3호
• /
• pp.253-263
• /
• 2012

With the local Hertz deformation on the contact point, the dynamic contact between a high-speed wheel and an elastic beam having a gap is numerically analyzed by solving the whole equations of motion of the wheel and the beam subjected to the contact condition. For the stability of the time integration the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Especially the acceleration contact condition on the gap is formulated, and it is demonstrated that the contact force variation computed by the velocity contact constraint or by the acceleration contact constraint agrees well with that computed by the displacement contact constraint. The numerical examples show that, when the wheel passes on the gap, the solution is governed by the stiffness of the local Hertzian deformation.

• 전기학회논문지
• /
• 제58권9호
• /
• pp.1827-1833
• /
• 2009

This paper deals with the trajectory tracking control of wheeled mobile robots with input constraint. The proposed method converts the trajectory tracking problem to the system stability problem using the control inputs composed of feedforward and feedback terms, and then, by using Taylor series, nonlinear terms in origin system are transformed into polynomial equations. The composed system model can make it possible to obtain the control inputs using numerical tool named as SOSTOOL. From the simulation results, the mobile robot can track the reference trajectory well and can have faster convergence rate of the trajectory errors than the existing nonlinear control method. By using the proposed method, we can easily obtain the control input for nonlinear systems with input constraint.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 춘계학술대회 논문집
• /
• pp.1780-1783
• /
• 2005

In this paper ZMP was considered in order to get a walking stability, so the gait in the stable domain was realized through putting the stability margin in the sole domain of a foot. It is assumed that the robot's legs have 12 joints to operate a open-loop drive and there was no external disturbance under walking phases, additionally, the robot is walking on the flat plane. It was observed that the robot's walking trajectory, locus of COM and ZMP after imposing the motion to each joint. For realizing the simulation considering ZMP and movement of mass center, it was checked if it is stable for the constraint robot model to walk in stability and the feasibility was estimated about its dynamic gait. Eventually it was shown that a constraint gait algorithm is able to realize. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.

• 대한전기학회논문지
• /
• 제45권1호
• /
• pp.1-8
• /
• 1996

Recently, much attention has been paid to problems which is concerned with voltage instability phenomena and much works on these phenomena have been made. In this paper, by substituting d $P_{k}$ d $e_{k}$ ( $v^{\rarw}$= e +j f) for $P_{k}$ in conventional load flow, direct method for finging the limit of voltage stability is proposed. Here, by using the fact that taylor se- ries expansion in .DELTA. $P_{k}$ and .DELTA. $Q_{k}$ is terminated at the second-order terms, constraint equation (d $P_{k}$ d $e_{k}$ =0) and power flow equations are formulated with new variables .DSLTA. e and .DELTA.f, so partial differentiations for constraint equation are precisely calculated. The fact that iteratively calculated equations are reformulated with new variables .DELTA.e and .DELTA.f means that limit of voltage stability can be traced precisely through recalculation of jacobian matrix at e+.DELTA.e and f+.DELTA.f state. Then, during iterative process divergence may be avoid. Also, as elements of Hessian mat rix are constant, its computations are required only once during iterative process. Results of application of the proposed method to sample systems are presented. (author). 13 refs., 11 figs., 4 tab.

• 동력기계공학회지
• /
• 제14권3호
• /
• pp.33-38
• /
• 2010

Technology of vehicle industry has been developing and it is required a better vehicle performance than before. Therefore, the consumers are asking not only an economic efficiency, functionality, polished design, ride comfort and silence but also a driving stability. The ride comfort, silence and driving stability are influenced by the size of vehicle and various facilities. But the principal factor is a room noise and vibration sensed by a driver and passenger. Thus, the NVH of vehicle has been raised and used as a principal factor for evaluation of vehicle performance. The primary objective of this study is an optimized design of powertrain mounting system. To optimized design was applied MSC.Nastran optimization modules. Results of dynamic analysis for powertrain mounting system was investigated. By theses results, design variables was applied 12 dynamic spring constant. And the weighting factor according to translational displacement and rotational displacement applied 3 cases. The objective function was applied to minimize displacement of powertrain. And the design variable constraint was imposed dynamic spring constant ratio. The constraint of design variable for objective function was imposed bounce displacement for powertrain.

• 제어로봇시스템학회논문지
• /
• 제21권7호
• /
• pp.595-601
• /
• 2015

This paper presents an unified chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. When generating the control yaw moment, an optimization problem is formulated in order to determine the tire forces, generated by ESC and AFS. With Karush-Kuhn-Tucker optimality condition, the optimum tire forces can be algebraically calculated. On low friction road, the lateral force in front wheels is easily saturation. When saturated, AFS cannot generate the required control yaw moment. To cope with this problem, new constraint on the lateral tire force is added into the original optimization problem. To check the effectiveness of the propose method, simulation is performed on the vehicle simulation package, CarSim.

• 제어로봇시스템학회논문지
• /
• 제11권1호
• /
• pp.9-12
• /
• 2005

This paper presents an LMI-based method to design sliding mode observers for a class of uncertain systems. Using LIs we derive an existence condition of a sliding mode observer guaranteeing a stable sliding motion. And we give explicit formulas of the observer gain matrices. We also consider sliding mode observer design problems under an α-stability constraint or an LQ performance bound constraint. Finally, we give a numerical design example.