• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.812-814
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• 1999

In this paper, we propose a new control algorithm based on the neural network(NN) feedback compensation with a desired trajectory modification. The proposed algorithm decreases trajectory errors by a feed-forward desired torque combined with a neural network feedback torque component. And, to robustly control the tracking error, we modified the desired trajectory by variable structure concept smoothed by a fuzzy logic. For the numerical simulation, a 2-link robot manipulator model was assumed. To simulate the disturbance due to the modelling uncertainty. As a result of this simulation, the proposed method shows better trajectory tracking performance compared with the CTM and decreases the chattering in control inputs.

• Structural Engineering and Mechanics
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• v.34 no.4
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• pp.417-447
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• 2010

The uncertainty often observed in experimental strengths of masonry constituents makes critical the selection of the appropriate inputs in finite element analysis of complex masonry buildings, as well as requires modelling the building ultimate load as a random variable. On the other hand, the utilization of expensive Monte Carlo simulations to estimate collapse load probability distributions may become computationally impractical when a single analysis of a complex building requires hours of computer calculations. To reduce the computational cost of Monte Carlo simulations, direct computer calculations can be replaced with inexpensive Response Surface (RS) models. This work investigates the use of RS models in Monte Carlo analysis of complex masonry buildings with random input parameters. The accuracy of the estimated RS models, as well as the good estimations of the collapse load cumulative distributions obtained via polynomial RS models, show how the proposed approach could be a useful tool in problems of technical interest.

• Journal of Ocean Engineering and Technology
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• v.13 no.3B
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• pp.91-98
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• 1999

In order to reject the steady-state tracking error, it is common to introduce integral compensators in servosystems for constant reference signals. However, if the mathematical model of the plant is exact and no disturbance input exists, the integral compensation is not necessary. From this point of view, a two-degree-of-freedom(2DOF) servosystem has been proposed, in which the integral compensation is effective only when there is a modeling error or a disturbance input. The present paper considers a synthesis problems of this 32DOF servosystem with direct transfer term in the system representation. And, a method how we may obtain a gain such that desirable transient response is achieved, is proposed in the presence of the modelling error and disturbance input.

• Journal of Ocean Engineering and Technology
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• v.3 no.2
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• pp.559-559
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• 1989

This paper deals with the robust controller design of robot manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach follwed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with the assumption that process is characterized by a linear model remaining time invariant during adaptation process. The performance of controller is demonstrated by computed simulation about position and speed control of six link manipulator in case of disturbance and payload variation.

• Journal of Ocean Engineering and Technology
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• v.3 no.2
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• pp.59-69
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• 1989

This paper deals with the robust controller design of robot manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach follwed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with the assumption that process is characterized by a linear model remaining time invariant during adaptation process. The performance of controller is demonstrated by computed simulation about position and speed control of six link manipulator in case of disturbance and payload variation.

• Journal of KSNVE
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• v.6 no.4
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• pp.521-528
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• 1996

Recently, higher speed optical disk drives including computer CD-ROM drives tend to be increasingly demanded to read or write the enormous volume of digital data. To this end, both structure and controller designs of the optical pick-ups should be improved concurrently. In this paper, the pick-up during auto-focusing motion is mathematically modelled retaining all its peculiar features. The model turns out a linear time invariant system suitable for a control design namedH${\infty}$ which ensures robust stability in the presence of system uncertainties. Numerical simulations are performed to demonstrate the robustness with appropriate performance specifications being satisfied. In addition, as the implementation issue of it, procedures of temporal discretization as well as model reduction of the controller are also addressed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.27-33
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• 2001

Linear harmonic analysis is a convenient and generally accurate method to use for the acoustic analysis of intake and exhaust silencers for IC engines. The major uncertainty in this form of modelling is the characterisation of the source, which is inherently nonlinear and time-variant. Experimental methods are generally used to determine the source characteristics, and in particular the indirect method is most suitable for an IC-engine source. With reference to an idealised linear time-variant source, it is found that the characteristics of a time-variant source as determined by the indirect method have no physical relevance. The direct method of experimental measurement appears to have some advantage over the indirect method, although in practice it is difficult to apply to an IC engine source. Again, an idealised linear time-variant source can be used to indicate that the characteristics of a time-variant source as determined by the direct method also have no physical relevance. Strangely, these meaningless measured source properties can nevertheless be used to accurately predict the radiated noise from an IC engine and silencer system.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1993.10a
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• pp.224-231
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• 1993

This paper is concerned with the influence of changes in stochastic parameters of the important resistance variables such as the strength modelling parameter and material and geometric properties, on the system safety level of TLP structures. The effect of parameters governing the post-ultimate behaviour is also addressed. An extended incremental load method is employed for the present study, which has been successfully applied to the system reliability analysis of continuous structures. The Hutton Field TLP and its one variant called herein TLP-B, are chosen as TLP models in this paper. The results of several parameteric studies lead to useful conclusions relating to the importance of reducing uncertainties in strength formulae and relating the importance of component post-ultimate behaviour to the systems reliability of such structures.

• Transactions of The Korea Fluid Power Systems Society
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• v.5 no.1
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• pp.1-5
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• 2008

Pneumatic driving systems have hard non-linear characteristic and large friction force compared with driving power. Hence, it cannot be robust against parameter uncertainties, modelling error, disturbance and noise. In this study, we apply a mixed $H_2/H_{\infty}$ control to the generalized plant for a pneumatic driving apparatus system including parameter uncertainty and disturbance. In order to design the $H_2/H_{\infty}$ controller, we use the LMI technique. To evaluate control performance and robust stability of the designed controller, we compare it with a conventional controller such as PVA(Position-Velocity-Acceleration state controller) using the simulation results. As a result, it can be known that designed controller shows better robust stability than the conventional controller.

• Nuclear Engineering and Technology
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• v.52 no.11
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• pp.2415-2421
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• 2020

The axial heterogeneous void distribution in a fuel channel is a relevant and important issue during nuclear reactor analysis for LWR, especially for boiling water channel-type reactors. Variation of the coolant density in fuel channel has an effect on the neutron spectrum that will in turn have an impact on the values of absolute reactivity, the void reactivity coefficient, and the fuel isotopic compositions during irradiation. This effect is referring to as the history effect in light water reactor calculations. As the void reactivity effect is positive in RBMK type reactors, the underestimation of water density heterogeneity in 3D reactor core numerical calculations could cause an uncertainty during assessment of safe operation of nuclear reactor. Thus, this issue is analysed with different cross-section libraries which were generated with WIMS8 code at different reference water densities. The libraries were applied in single fuel model of the nodal code of QUABOX-CUBBOX/HYCA. The thermohydraulic part of HYCA allowed to simulate axial water distribution along fuel assembly model and to estimate water density history effect for RBMK type fuel.