• Transactions on Control, Automation and Systems Engineering
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• v.3 no.2
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• pp.117-123
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• 2001

To improve control performance of a non-linear system, many other reserches have used the sliding model control algorithm. The sliding mode controller is known to be robust against nonlinear and unmodeled dynamic terms. However, this algorithm raises the inherent chattering caused by excessive switching inputs around the sliding surface. Therefore, in order to solve the chattering problem and improve control performance, this study has developed the sliding mode controller with a perturbation estimator using the observer-based fuzzy adaptive network. The perturbation estimator based on the fuzzy adaptive network generates the control input of compensating unmodeled dynamics terms and disturbance. And the weighting parameters of the fuzzy adaptive network are updated on-line by adaptive law in order to force the estimation errors converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluation control performance of the proposed approach, tracking control simulation is carried is carried out for the hydraulic motion simulator which is a 6-degree of freedom parallel manipulator.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.6 s.111
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• pp.658-664
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• 2006

Shock vibrations are usually experienced in vehicles excited by impulsive input, such as bumps. The frequency weighting functions of the current standards in ISO 2631 and BS 6841 are to help objectively predict the amount of discomfort of stationary vibration. This experimental study was designed to develop frequency weighting shape for shock vibration having various fundamental frequencies from 0.5 to 16Hz. The specks were produced from the response of single. degree-of-freedom model to a half-sine force input. Fifteen subjects used the magnitude estimation method to judge the discomfort of vertical shock vibration generated on the rigid seat mounted on the simulator. The magnitudes of the shocks, expressed in terms of both peak-to-peak value and un-weighted vibration dose values (VDVs) , were correlated with magnitude estimates of the discomfort. The frequency weighting shapes from the correlation were developed and investigated having nonlinearity due to the magnitude of the shock.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.7 no.2
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• pp.1-6
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• 1989

The adjustment of levelling net is being done to the order of nets independently by using the least square method. For the small size net, it has difficulties in verification and statistical analysis of the net since the degree of freedom is low At the same time, it is also difficult to evaluate the error of lower order net correctly. The aim of this study is to analyse the properties of combined adjustment method compared with the independent adjustment method by using the data which have been measured during 1967-1987. Another aim is to analyse the influences of normal orthometric correction and changes of datum. Finally, Korean leveling net has been evaluated by applying real redundancy and variance component estimation.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.506-506
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• 2000

To improve control performance of a non-linear system, many other researches have used the sliding mode control algorithm. The sliding mode controller is known to be robust against nonlinear and unmodeled dynamic terms. However. this algorithm raises the inherent chattering caused by excessive switching inputs around the sliding surface. Therefore, in order to solve the chattering problem and improve control performance, this study has developed the sliding mode controller with a perturbation estimator using the observer-based fuzzy adaptive network generates the control input for compensating unmodeled dynamics terms and disturbance. And, the weighting parameters of the fuzzy adaptive network are updated on-line by adaptive law in order to force the estimation errors to converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluating control performance of the proposed approach. tracking control simulation is carried out for the hydraulic motion simulator which is a 6-degree of freedom parallel manipulator.

• Smart Structures and Systems
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• v.14 no.1
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• pp.17-37
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• 2014

In this study, four widely accepted and used variants of Evolution Strategies (ES) are adapted and applied to the output-error state-space identification problem. The selection of ES is justified by prior strong indication of superior performance to similar problems, over alternatives like Genetic Algorithms (GA) or Evolutionary Programming (EP). The ES variants that are being tested are (i) the (1+1)-ES, (ii) the $({\mu}/{\rho}+{\lambda})-{\sigma}$-SA-ES, (iii) the $({\mu}_I,{\lambda})-{\sigma}$-SA-ES, and (iv) the (${\mu}_w,{\lambda}$)-CMA-ES. The study is based on a six-degree-of-freedom (DOF) structural model of a shear building that is characterized by light damping (up to 5%). The envisaged analysis is taking place through Monte Carlo experiments under two different excitation types (stationary / non-stationary) and the applied ES are assessed in terms of (i) accurate modal parameters extraction, (ii) statistical consistency, (iii) performance under noise-corrupted data, and (iv) performance under non-stationary data. The results of this suggest that ES are indeed competitive alternatives in the non-linear state-space estimation problem and deserve further attention.

• Journal of Mechanical Science and Technology
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• v.16 no.8
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• pp.1053-1063
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• 2002

This paper presents a robust nonlinear controller for a f degree of freedom (DOF) parallel manipulator in the task space coordinates. The proposed control strategy requires information on orientations and translations in the task space unlike the joint space or link space control scheme. Although a 6 DOF sensor may provide such information in a straightforward manner, its cost calls for a more economical alternative. A novel indirect method based on the readily available length information engages as a potential candidate to replace a 6 DOF sensor. The indirect approach generates the necessary information by solving the forward kinematics and subsequently applying alpha-beta-gamma tracker With the 6 DOF signals available, a robust nonlinear task space control (RNTC) scheme is proposed based on the Lyapunov redesign method, whose stability is rigorously proved. The performance of the proposed RNTC with the new estimation scheme is evaluated via experiments. First, the results of the estimator are compared with the rate-gyro signals, which indicates excellent agreement. Then, the RNTC with on-line estimated 6 DOF data is shown to achieve excellent control performance to sinusoidal inputs, which is superior to those of a commonly used proportional-plus-integral-plus-derivative controller with a feedforward friction compensation under joint space coordinates and the nonlinear controller under task space coordinates.

• Journal of Electrical Engineering and Technology
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• v.12 no.1
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• pp.356-362
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• 2017

This paper presents a robust position controller for a one degree-of-freedom (DOF) mechanical system using only position measurement. In order to alleviate the performance degradation owing to various uncertainties, a two-stage design method is studied by employing a proportional integral observer (PIO). In the first stage, a baseline backstepping controller is designed for a nominal system without accounting for uncertainties. The PIO is developed for estimating both the velocity information for the backstepping controller and an equivalent input disturbance for a feedforward compensation using the estimated uncertainty. It is shown that the estimation errors with the proposed PIO can be made arbitrarily small in a finite time. If the system suffers from undesirable actuator nonlinearities, however, it might be necessary to estimate the velocity and the disturbance with different rates of convergence. The proposed method combines the predesigned backstepping controller and dual PIOs to reduce mechanical vibrations as well as steady-state errors. The performance of the proposed method is tested through comparative computer simulations and experiments using a laboratory prototype.

• Wind and Structures
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• v.8 no.5
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• pp.343-356
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• 2005

Overhead sign support structures number in the tens of thousands throughout the trunk-line roadways in the United States. A recent two-phase study sponsored by the National Cooperative Highway Research Program resulted in the most significant changes to the AASHTO design specifications for sign support structures to date. The driving factor for these substantial changes was fatigue related cracks and some recent failures. This paper presents the method and results of a subsequent study sponsored by the Michigan Department of Transportation (MDOT) to develop a relative performance-based procedure to rank overhead sign support structures around the United States based on a linear combination of their expected fatigue life and an approximate measure of cost. This was accomplished by coupling a random vibrations approach with six degree-of-freedom linear dynamic models for fatigue life estimation. Approximate cost was modeled as the product of the steel weight and a constructability factor. An objective function was developed and used to rank selected steel sign support structures from around the country with the goal of maximizing the objective function. Although a purely relative approach, the ranking procedure was found to be efficient and provided the decision support necessary to MDOT.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.618-623
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• 2001

In a practical vibration isolation system, vibration is transmitted from the source to the receiver through several paths such as more than one inter-connected point and multi-degree of freedom at each connection point. Therefore, the major path investigation for vibration transmission among them is often required in a point of view of isolation. For the path analysis of multi-dimensional vibration isolation system, it is useful to employ the concept of vibration power in high frequency range where radiation of noise from the receiver structure is concerned. The idea is simple to understand and formulate but rather complicated to apply in practice. For an accurate estimation of power flow especially over a high frequency range, it is well known in theory that rotational motions should be taken into consideration together with translational motions at inter-connected points. In reality, however, power transmissions related to rotational terms are often neglected mainly due to difficulties in the instrumentation. In this paper, necessary formula and measurable mechanical quantities for vibration power analysis will be reviewed and experimental results with rotational terms included for compressor system in a commercial air conditioner will be shown.

• Journal of IKEEE
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• v.27 no.1
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• pp.38-44
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• 2023

Performance of a STAP(space-time adaptive processing) algorithm highly depends on how closely the estimated covariance matrix(CM) resembles the actual CM by the interference in CUT(cell under test). A STAP has 2 dimensional data structure determined by the number of array elements and the number of transmitting pulses and both numbers are generally not small. Thus, to meet the degree of freedom(DOF) of the CM, a huge amount of training data is required. This paper presents an algorithm to generate virtual training data from small received data, via converting them into the data in spatial frequency-Doppler plane. We theoretically derive where the clutter exist in the plane and present the procedure to implement the proposed algorithm. Finally, with the simulated scenario of small received data, we show the proposed algorithm can improve STAP performance.