• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.113.5-113
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• 2001

In this work, we consider the flexible manipulator system. Generally, the manipulator system may often be made on the base of the imperfect modeling, joint friction, payload change, and external disturbances. These elements are uncertain factors. These uncertainties and flexibility make difficult to control the system. To overcome these defects, a class of robust control law is proposed for the flexible manipulator system and the singular perturbation approach is applied. To show the effectiveness of this control law, simulation is presented for one degree of freedom flexible joint and flexible link system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.256-261
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• 1995

To improve the performance of the robots they must be built ever lighter, which will lead to flexibility of the links. The full order of the flexible link manipulator dynamic system does not allow the determination of a feedback linearization control as for flexible link manipulator regard low mode. In this paper, this drawback is overcome by LQG/LTR controller which is designed bya corrected reduced modle based on the singular perturbation method.

• Journal of Astronomy and Space Sciences
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• v.5 no.2
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• pp.111-122
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• 1988

The short and long periodic perturbations and secular perturbation due to the geopotentials of degree $J_2$ and $J_3$ which affect orbital elements of a near-circular orbiting satellite are obtained by the analytical method. The singular points due to a small denominator e in the perturbation equations can be excluded using one of the methods introduced by Taff(1985), which substitutes $e_s=esin\omega,\;e_c=ecos\omega\;and\;\ell=\omega+M$ for the orbital elements e, $\omega$ and M. We determined the mean orbital elements of the meteorological satellite NOAA-10 using the Walter (1967)'s iterative procedure and compared with Brouwer's mean orbital elements determined at NASA. The mean orbital elements a, ⅰand $\Omega$ are consistent with those of NASA but the mean orgital elements e, $\omega$ and M have some deviations from those of NASA. According to the our results, it is not suitable for the polar orbiting satellites to use the Taff's proposal for excluding the singular points, which substitutes e, $\omega$ and M by $e_s=esin(\Omega+\omega),\;e_c=ecos(\Omega+\omega)\;and\;L=\Omega+\omega+M$.

• Journal of applied mathematics & informatics
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• v.39 no.3_4
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• pp.419-435
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• 2021

This paper deals with numerical treatment of singularly perturbed differential equations involving small delays. The highest order derivative in the equation is multiplied by a perturbation parameter 𝜀 taking arbitrary values in the interval (0, 1]. For small 𝜀, the problem involves a boundary layer of width O(𝜀), where the solution changes by a finite value, while its derivative grows unboundedly as 𝜀 tends to zero. The considered problem contains delay on the convection and reaction terms. The terms with the delays are approximated using Taylor series approximations resulting to asymptotically equivalent singularly perturbed BVPs. Inducing exponential fitting factor for the term containing the singular perturbation parameter and using central finite difference for the derivative terms, numerical scheme is developed. The stability and uniform convergence of difference schemes are studied. Using a priori estimates we show the convergence of the scheme in maximum norm. The scheme converges with second order of convergence for the case 𝜀 = O(N^-1) and for the case 𝜀 ≪ N^-1, the scheme converge uniformly with first order of convergence, where N is number of mesh intervals in the domain discretization. We compare the accuracy of the developed scheme with the results in the literature. It is found that the proposed scheme gives accurate result than the one in the literatures.

• Advances in nano research
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• v.10 no.5
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• pp.423-435
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• 2021

This paper examines the thermal post-buckling behaviors of graphene-reinforced metal matrix composite (GRMMC) laminated cylindrical panels which possess in-plane negative Poisson's ratio (NPR) and rest on an elastic foundation. A panel consists of GRMMC layers of piece-wise varying graphene volume fractions to obtain functionally graded (FG) patterns. Based on the MD simulation results, the GRMMCs exhibit in-plane NPR as well as temperature-dependent material properties. The governing equations for the thermal post-buckling of panels are based on the Reddy's third order shear deformation shell theory. The von Karman nonlinear strain-displacement relationship and the elastic foundation are also included. The nonlinear partial differential equations for GRMMC laminated cylindrical panels are solved by means of a singular perturbation technique in associate with a two-step perturbation approach and in the solution process the boundary layer effect is considered. The results of numerical investigations reveal that the thermal post-buckling strength for (0/90)_5T GRMMC laminated cylindrical panels can be enhanced with an FG-X pattern. The thermal post-buckling load-deflection curve of 6-layer (0/90/0)_S and (0/90)_3T panels of FG-X pattern are higher than those of 10-layer (0/90/0/90/0)_S and (0/90)_5T panels of FG-X pattern.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.438-441
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• 1998

In this paper, we proposes an adaptive flux observer to estimate initial values of rotor fluxes and unknown rotor resistance. The error system between the model of induction motor and a proposed observer is devided as a fast subsystem and a slow one by a singular perturbation system. The fast subsystem is exponentially convergent on a boundary-layer. And the overall error system is reduced to a quasi-steady-state system. The adaptive law for an unknown rotor resistance is designed to stabilize the approximate error system. As computer simulation results show, the proposed adaptive flux observer estimates fast initial values of rotor fluxes and unknown rotor resistance.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.4_1
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• pp.397-409
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• 2021

This study proposes a new approach to implimentation of robust control and torque control response analysis based on monitoring simulator for smart factory. According to the physical properties of a flexible manipulator, a two time-scale approach, namely, singular perturbation ap proach, is further utilized for thorough analysis and general controller design. It is shown that asymptotic motional tracking can be effectively achieved, whereas the force regulation errors can be made arbitrarily small. For demonstration of the proposed technology performance, experiments of a eight joint flexible manipulator are performed for the proposed control method, and the reliability of proposed control results are illustrated based on monitoring simulator.

• Journal of applied mathematics & informatics
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• v.27 no.1_2
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• pp.441-452
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• 2009

In this paper, a fifth order numerical method is presented for solving singularly perturbed differential-difference equations with negative shift. In recent papers the term negative shift has been using for delay. Similar boundary value problems are associated with expected first exit time problem of the membrane, potential in models for neuron and in variational problems in control theory. In the numerical treatment for such type of boundary value problems, first we use Taylor approximation to tackle terms containing small shifts which converts it to a boundary value problem for singularly perturbed differential equation. The two point boundary value problem is transformed into general first order ordinary differential equation system. A discrete approximation of a fifth order compact difference scheme is presented for the first order system and is solved using the boundary conditions. Several numerical examples are solved and compared with exact solution. It is observed that present method approximates the exact solution very well.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.255-259
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• 1989

A suboptimal output feedback controller is designed and applied to a flexible rotor bearing system in order to control the unstable or lilghtly damped vibrations. The reduced order model is the truncated modal equation of the distributed parameter system obtained through the singular perturbation. The instability problem arising from the spillover effects caused by the uncontrolled high frequency modes is prevented through the constrained optimization by incorporating the spillover term into the performance index. The efficiency of the proposed method is demonstrated experimentally with a flexible rotor by using a magnetic bearing.

• Journal of applied mathematics & informatics
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• v.39 no.5_6
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• pp.655-676
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• 2021

A parameter uniform numerical scheme is proposed for solving singularly perturbed parabolic partial differential-difference convection-diffusion equations with a small delay and advance parameters in reaction terms and spatial variable. Taylor's series expansion is applied to approximate problems with the delay and advance terms. The resulting singularly perturbed parabolic convection-diffusion equation is solved by utilizing the implicit Euler method for the temporal discretization and finite difference method for the spatial discretization on a uniform mesh. The proposed numerical scheme is shown to be an ε-uniformly convergent accurate of the first order in time and second-order in space directions. The efficiency of the scheme is proved by some numerical experiments and by comparing the results with other results. It has been found that the proposed numerical scheme gives a more accurate approximate solution than some available numerical methods in the literature.