• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.418-429
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• 2018

This paper studies the decentralized position/force control problem for constrained reconfigurable manipulator without torque sensing. A novel joint torque estimation scheme that exploits the existing structural elasticity of the manipulator joint with harmonic drive model is applied for each joint module. Based on the estimated joint torque and dynamic output feedback technique, a decentralized position/force control strategy is presented. In order to solve the problem of controller parameter perturbation, the non-fragile robust technique is introduced into the dynamic output feedback controller. Subsequently, the stability of the closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, two 2-DOF constrained reconfigurable manipulators with different configurations are applied to verify the effectiveness of the proposed control scheme in numerical simulation.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.9
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• pp.33-42
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• 1998

If a ship diesel engine is operated by consolidated control with Controllable Pitch Propeller(CPP), the minimum fuel consumption is achieved together with the demanded ship speed. For this, it is necessary that the ship is operated on the ideal operating line which satisfies the minimum fuel consumption and that the pitch angle of CPP and throtle valve angle are controlled simultaneously. In this point of view, this paper presents a controller design method for a ship propulsion system with CPP based on the decoupling control theory. To do this, Linear Matrix Inequality(LMI) approach is introduced for the control system to satisfy the given $H_\infty$ control performance and robust stability in the presence of physical parameter perturbations. The validity and applicability of this approach are illustrated by simulation in the all operating ranges.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.93-102
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• 2005

The Nyquist robust stability margin is proposed as a measure of robust stability for systems with Affine TFM(Transfer Function Matrix) parametric uncertainty. The parametric uncertainty is modeled through a Affine TFM MIMO (Multi-Input Multi-Output) description with dead-time, and the unstructured uncertainty through a bounded perturbation of Affine polynomials. Gershgorin's theorem and concepts of diagonal dominance and GB(Gershgorin Bands) are extended to include model uncertainty. Multiloop PI/PID controllers can be tuned by using a modified version of the Ziegler-Nichols (ZN) relations. Consequently, this paper provides sufficient conditions for the robustness of Affine TFM MIMO uncertain systems with dead-time based on Rosenbrock's DNA. Simulation examples show the performance and efficiency of the proposed multiloop design method for Affine uncertain systems with dead-time.

• Bulletin of the Korean Chemical Society
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• v.19 no.9
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• pp.985-993
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• 1998

The second order effective valence shell Hamiltonian ($H^v$), which is based on quasidegencrate many-body perturbation theory, is applied to determining the potential energy surfaces and the dipole moment functions of the various valence states of $NH_2$. The $H^v$ calculated values are found to be in good agreement with those of other ab initio calculations or experiments. It signifies the fact that the $H^v$ is a good ab initio method to describe the energies and properties of various valence states with a same chemical accuracy. Furthermore, it is shown that the lowest (second order for energy and the first order for property) order $H^v$ method is very accurate for small molecules like $NH_2$ and the matrix elements of Hv which are computed only once are all we need to accurately describe all the valence states simultaneously.

• Bulletin of the Korean Chemical Society
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• v.6 no.5
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• pp.309-311
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• 1985

When a molecule is perturbed by an external field, the perturbed moecue can be described as a doubly perturbed system. Hartree-Fock operator in the absence of the field is the zeroth order Hamiltonian, and a correlation operator and the external field operator are perturbations. The effective Hamiltonian, which is a projection of the total Hamiltonian onto a small finite subspace (usually a valence space), has been formally derived. The influence of the external field to the molecular Hamiltonian itself has been examined within an effective Hamiltonian framework. The first order effective expectation values, for instance electromagnetic transition amplitudes, between valence states are found to be easily calculated - by simply taking matrix elements of the effective external field operator. Implications of the terms in perturbation expansion are discussed.

• Smart Structures and Systems
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• v.9 no.3
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• pp.231-251
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• 2012

The stochastic optimal control for a piezoelectric spherically symmetric shell subjected to stochastic boundary perturbations is constructed, analyzed and evaluated. The stochastic optimal control problem on the boundary stress output reduction of the piezoelectric shell subjected to stochastic boundary displacement perturbations is presented. The electric potential integral as a function of displacement is obtained to convert the differential equations for the piezoelectric shell with electrical and mechanical coupling into the equation only for displacement. The displacement transformation is constructed to convert the stochastic boundary conditions into homogeneous ones, and the transformed displacement is expanded in space to convert further the partial differential equation for displacement into ordinary differential equations by using the Galerkin method. Then the stochastic optimal control problem of the piezoelectric shell in partial differential equations is transformed into that of the multi-degree-of-freedom system. The optimal control law for electric potential is determined according to the stochastic dynamical programming principle. The frequency-response function matrix, power spectral density matrix and correlation function matrix of the controlled system response are derived based on the theory of random vibration. The expressions of mean-square stress, displacement and electric potential of the controlled piezoelectric shell are finally obtained to evaluate the control effectiveness. Numerical results are given to illustrate the high relative reduction in the root-mean-square boundary stress of the piezoelectric shell subjected to stochastic boundary displacement perturbations by the optimal electric potential control.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.37 no.4
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• pp.45-52
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• 2000

We present a novel method for simple and efficient analysis of the rectangular MQW waveguide. Preferentially two-dimensional structure is transformed into one-dimensional structure by using the effective index method. Then, the characteristic matrix of the resultant planar MQW waveguide is analyzed by scanning angle method. The effective index, modal intensity, and optical confinement factor of rectangular MQW waveguide can be effectively obtained by this method. Our simulation results show excellent agreement with the accurate solutions based on the finite element method. We also introduce the approximation methods for the analysis of rectangular MQW waveguide and investigate their validity. By using perturbation approach, modal power loss of guided wave in rectangular MQW waveguide is newly investigated and compared with the conventional method using the approximation of planar MQW waveguide.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.1334-1337
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• 2006

System identification is the field of modeling dynamic systems from experimental data. As a modeling technique, we can mention finite element method (FEM). In addition, we are able to measure modal data as the experimental data. The system can be generally categorized into a gray box and black box. In the gray box, we know mathematical model of a system, but we don't know structural parameters exactly, so we need to estimate structural parameters. In the black box, we don't know a system completely, so we need to identify system from nothing. To date, various system identification methods have been developed. Among them, we introduce system realization theory which uses Hankel matrix and Eigensystem Realization Algorithm (ERA) that enable us to identify modal parameters from noisy measurement data. Although we obtain noise-free data, however, we are likely to face difficulties in identifying a structure with hidden modes. Hidden modes can be occurred when the input or output position comes to a nodal point. If we change a system using a mode decoupling controller, the hidden modes can be revealed. Because we know the perturbation quantities in a closed loop system with the controller, we can realize an original system by subtracting perturbation quantities from the closed loop system. In this paper, we propose a novel method to identify a structure with hidden modes using the mode decoupling controller and the associated example is given for illustration.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.18 no.3
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• pp.227-243
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• 2005

This paper presents a hybrid control system combining lead rubber bearings and hydraulic actuators for seismic response control of a cable stayed bridge. Because multiple control devices are operating, a hybrid control system could improve the control performances. However, the overall system robustness may be impacted negatively by additional active control devices. Therefore, a secondary on-off type controller according to the responses of lead rubber bearings is combined with LQG algorithm to improve the controller robustness. Numerical simulation results show that control performances of the hybrid system controlled by an on off type LQG algorithm are improved compared to those of the passive and active control systems and are similar to those of performance oriented hybrid system controlled by a LQG algorithm with the similar peak and normed control forces. Furthermore, it is verified that the hybrid system with an on-off type LQG controller is more robust for stiffness matrix perturbation than conventional hybrid control of system, and there are no signs of instability in the overall system. The proposed control system also maintains the control performance under not only the design earthquakes but also the other earthquakes. Therefore, the hybrid control system using on-off type LQG algorithm could be proposed as an improved control strategy for seismically excited cable-stayed bridges containing many uncertainties.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.5A
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• pp.849-859
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• 2006

This paper presents an extensive robust analysis of a ${\mu}$-controller in the hybrid system for various uncertainties using the benchmark cable-stayed bridge. The overall system robustness may be deteriorated by introducing active devices and the active controller may cause instability due to small margins. Therefore, a ${\mu}$-synthesis method that simultaneously guarantees the performance and stability of the closed-loop system (robust performance) with uncertainties is used for active devices to enhance the robustness in company with the inherent reliability of passive devices. The robustness of the ${\mu}$-synthesis method is investigated with respect to the additional mass on the deck, structural stiffness matrix perturbation, time delay of actuator, and combinations thereof. Numerical simulation results show that the proposed control system has the good robustness without loss of control performances with respect to various uncertainties under earthquakes considered in this study. Furthermore, the control system robustness is more affected by the perturbation of structural stiffness matrix than others considered in this study. Therefore, the hybrid system controlled by a ${\mu}$-synthesis method could be proposed as an improved control strategy for a seismically excited cable-stayed bridge containing many uncertainties.