• Journal of the Korea Convergence Society
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• v.9 no.6
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• pp.53-60
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• 2018

In this paper, we described the unknown parameter identification using Dual Extended Kalman Filter for precise control of 2-link manipulator. 2-link manipulator has highly non-linear characteristic with changed parameter thought tasks. The parameter kinds of mass and inertia of system is important to handle with the manipulator robustly. To solve the control problem by estimating the state and unknown parameters of the system through the proposed method. In order to verify the performance of proposed method, we simulate the implementation using Matlab and compare with results of RLS algorithm. At the results, proposed method has a better performance than those of RLS and verify the estimation performance in the parameter estimation.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.6 no.2
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• pp.67-75
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• 1986

This paper introduces the nonlinear Stream Function Wave Theory for design waves efficiently to compute the wave energy and energy transport quantities and to analyze the effects of nonlinearities on them. The Stream Function Wave Theory was developed by Dean for case of the observed waves with assymmetric wave profiles and of the design waves with symmetric theoretical wave profiles. Dalrymple later improved the computational procedure by adding two Lagrangian constraints so that more efficient convergence of the iterative numerical method to a specified wave height and to a zero mean free surface displacement resulted. And the Stream Function coefficients are computed numerically by the improved Marquardt algorithm developed for this study. As the result of this study the effects of nonlinearities on the wave quantities of the average potential energy density, the average kinetic energy density result in overestimation by linear wave theory compared to the Stream Function Wave Theory and increase monotonically with decreasing $L^*/L_O$ and with increasing $H/H_B$. The effects of nonlinearities on the group velocity and the wavelength quantities result in underestimation by linear wave theory and increase monotonically with increasing $H/H_B$. Finally the effect of nonlinearity on the average total energy flux results in overestimation for shallow water waves and underestimation for deep water waves by linear wave theory.