• Journal of Institute of Control, Robotics and Systems
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• v.10 no.6
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• pp.510-518
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• 2004

The PID trajectory tracking controller for robotic systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point can not be defined for the control system involving performance limitation, we define newly the quasi-equilibrium region as an alternative for equilibrium point. This analysis result of performance limitation can guide us the auto-tuning method for PID controller. Also, the quasi-equilibrium region is used as the target performance of auto-tuning PID trajectory tracking controller. The auto-tuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability and the characteristics of performance limitation. Finally, experimental results show that the target performance can be achieved by the proposed automatic tuning method.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.10
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• pp.80-89
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• 1996

This paper proposes a new COA (center of area) defuzzifier that is working in the accurate and fast manner. The proposed COA defuzzifier involves both membership values and the spans of membership functions in clauclating a crisp value. In additon, it avoid division by replacing the COA calculation with the searching of the momentum equilibrium point. The moment equilibrium point is searched in the coarse-to-fine manner such that the moment computing points during the coarse searching are moved in the interval of fuzzy terms until they are reached at two adjacent fuzzy terms searching method accerlates the finding of the moment equilibrium point by O(M) mazimally when compared iwth the equal interval searching method of ruitz. In order to verify the accuracy of the proposed COA defuzzifier, the crisp values obtained form the proposed coarse-to-fine searching are compared with the precise crisp values from the arithmetic calculation. Application to the truck backer-upper control problem of the proposed COA defuzzifier is presented. The control performance is compared with that of the conventional COA defuzzifier in tems of the average tracing distance.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.465-470
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• 2001

This paper presents an algorithm which seeks steady-state equilibrium positions of constrained multibody systems driven by constant generalized speeds. Since the relative coordinates are employed, the constraint equations at cut joints are incorporated into the formulation. The proposed algorithm leads to nonlinear equations that need to be solved iteratively. This algorithm should satisfy both types of conditions: the force equilibrium equations and the kinematic constraint equations. To verify the effectiveness of the proposed algorithm, two numerical examples are solved and the results are compared with those of a commercial program. This method, compared to the conventional method of using dynamic analysis, has the advantage of computational efficiency and stability.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.189-194
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• 1993

This paper presents an ARW(Anti-Reset Windup) method for discrete-time control systems with saturation nonlinearites. The method is motivated by the concept of the equilibrium point. The design parameters of the ARW scheme is explicitly derived by minimizing a reasonable performance index. The proposed method is closely related with the singular perturbed theory. The proposed method is applicable to any open-loop stable plants with saturation nonlinearities whose controllers are determined a priori by some design technique.

• Structural Engineering and Mechanics
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• v.62 no.6
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• pp.725-737
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• 2017

An analytical method considering axial equilibrium is proposed for the short- and long-term analyses of shear lag effect in reinforced concrete (RC) box girders. The axial equilibrium of box girders is taken into account by using an additional generalized displacement, referred to as the longitudinal displacement of the web. Three independent shear lag functions are introduced to describe different shear lag intensities of the top, bottom, and cantilever plates. The time-dependent material properties of the concrete are simulated by the age-adjusted effective modulus method (AEMM), while the reinforcement is assumed to behave in a linear-elastic fashion. The differential equations are derived based on the longitudinal displacement of the web, the vertical displacement of the cross section, and the shear lag functions of the flanges. The time-dependent expressions of the generalized displacements are then deduced for box girders subjected to uniformly distributed loads. The accuracy of the proposed method is validated against the finite element results regarding the short- and long-term responses of a simply-supported RC box girder. Furthermore, creep analyses considering and neglecting shrinkage are performed to quantify the time effects on the long-term behavior of a continuous RC box girder. The results show that the proposed method can well evaluate both the short- and long-term behavior of box girders, and that concrete shrinkage has a considerable impact on the concrete stresses and internal forces, while concrete creep can remarkably affect the long-term deflections.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.03a
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• pp.1113-1124
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• 2009

The limit equilibrium method and finite element method have been commonly used to assess the stability of anchored slope. However, the existing limit equilibrium methods do not consider the load transfer of anchor and, if the potential failure surface crosses the bonded zone of anchors, the anchor loads are not included in computing the factor of safety. In this paper, simplified bishop method, one among several methods based on the limit equilibrium is used to develope the Excel Sheet program and the working load of anchor along the failure surface is calculated by Flamant's formula, proposed by Morlier and Tenier(1982). Additionally, the finite element analysis of anchored slope considering the load transfer is performed in order to compare with the result from the limit equilibrium analysis and analyze the reinforced effect of anchor. From this study, new modelling method that limits the reinforcing range and considers the load transfer is proposed and Excel Sheet program is developed. The factor of safety for several cases between PC STABL and Excel Sheet program is also compared for verification of the program.

• KCI Concrete Journal
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• v.13 no.1
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• pp.11-17
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• 2001

The purpose of this state-of-the-art paper is to explore several important methods thor obtaining the equivalent loads in prestressed concrete structures. and to clarify the theoretical basis and implied assumptions of each method. The method devised in this stuffily include the use of curvature of tendon, characteristics of primary moment, self-equilibrium condition and linear segments approximation of tendon. It is shown that equivalent loading system it not uniquely determined depending on the approach adopted to calculate the equivalent loads. Self-equilibrium conditions of the equivalent loading system are carefully discussed. Numerical examples are presented to show the differences among the methods arid results of the approximations in each method explicitly.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.9 s.180
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• pp.2292-2301
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• 2000

We propose an accurate and efficient estimation method of transverse shear stresses for analysis and design of laminated composite structures by 4-node quadrilateral degenerated shell elements. To get proper distributions of transverse shear stresses in each layer, we use 3-dimensional equilibrium equations instead of constitutive equations with shear correction factors which vary diversely according to the shapes of shell sections. Three dimensional equilibrium equations are integrated through the thickness direction with complete polynomial membrane stress fields, which are recovered by REP (Recovery by Equilibrium in Patches) recovery method. The 4-node quadrilateral degenerated shell element used in this paper has drilling degrees of freedom and shear stresses derived from assumed strain fields that are set up at natural coordinate systems. The numerical results demonstrate that the proposed estimation method attains reasonable accuracy and efficiency compared with other methods and FE analysis using 4-node degenerated shell elements.

• Structural Engineering and Mechanics
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• v.19 no.4
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• pp.413-423
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• 2005

This paper presents the solution of large static deflection due to uniformly distributed self weight and the critical or maximum applied uniform loading that a simply supported beam with variable-arc-length can resist. Two analytical approaches are presented and validated experimentally. The first approach is a finite-element discretization of the span length based on the variational formulation, which gives the solution of large static sag deflections for the stable equilibrium case. The second approach is the shooting method based on an elastica theory formulation. This method gives the results of the stable and unstable equilibrium configurations, and the critical uniform loading. Experimental studies were conducted to complement the analytical results for the stable equilibrium case. The measured large static configurations are found to be in good agreement with the two analytical approaches, and the critical uniform self weight obtained experimentally also shows good correlation with the shooting method.

• Kyungpook Mathematical Journal
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• v.59 no.1
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• pp.83-99
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• 2019

In this paper, we introduce a hybrid subgradient method for finding an element common to both the solution set of a class of pseudomonotone equilibrium problems, and the set of fixed points of a finite family of ${\kappa}$-strictly presudononspreading mappings in a real Hilbert space. We establish some weak and strong convergence theorems of the sequences generated by our iterative method under some suitable conditions. These convergence theorems are investigated without the Lipschitz condition for bifunctions. Our results complement many known recent results in the literature.