• Proceedings of the KSME Conference
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• 2000.04a
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• pp.517-522
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• 2000

When a real robot manipulator is mathematically modeled. uncertainties are not avoidable. The uncertainties are often nonlinear and time-varying. The uncertain factors collie from imperfect knowledge ok system parameters. payload change. friction. external disturbance. and etc. In this paper. we propose a class of robust hybrid controls of manipulators without knowing the exact stiffness and provide the stability analysis. Simulation results are provided to show the effectiveness of the algorithms.

• Advances in Computational Design
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• v.7 no.4
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• pp.371-393
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• 2022

This paper presents a three-dimensional flexible pavement simulated in ANSYS subjected to moving vehicular load on the surface of the pavement typical for the road section in Nepal. The adopted finite element (FE) model of pavement is validated with the classical theoretical formulations for half-space pavement. The validated model is further utilized to understand the damping and dynamic response of the pavement. Transient analysis of the developed FE model is done to understand the time varying response of the pavement under a moving vehicle. The material properties of pavement considered in the analysis is taken from typical road section used in Nepal. The response quantities of pavement with nonlinear viscoelastic asphalt layer are found significantly higher compared to the elastic pavement counterpart. The structural responses of the pavement decrease with increase in the vehicle speed due to less contact time between the tires of the vehicle and the road pavement.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.630-642
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• 2007

In this paper, we propose a direct model reference adaptive fuzzy control (MRAFC) for MIMO nonlinear systems whose structure is represented by the Takagi-Sugeno fuzzy model. The adaptive law of the MRAFC estimates the approximation error of the fuzzy logic system so that it provides asymptotic tracking of the reference signal for the systems with uncertain or slowly time-varying parameters. The developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal. To verify the validity and effectiveness of the MRAFC scheme, the suggested analysis and design techniques are applied to the tracking control of robot manipulator and simulation studies are carried out. In the control design, the MRAFC is combined with feedforward PD control to make the actual joint trajectories of the robot manipulator with system uncertainties track the desired reference joint position trajectories asymptotically stably.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.700-705
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• 2005

The purpose of this project is the derivation and development of techniques for the new estimation of robustness for the systems having uncertainties. The basic ideas to analyze the system which is the originally nonlinear is Lyapunov direct theorems. The nonlinear systems have various forms of terms inside the system equations and this investigation is confined in the form of bounded uncertainties. Bounded means the uncertainties are with same positive/negative range. The number of uncertainties will be the degree of freedoms in the calculation of the stability region. This is so called the robustness bounds. This proposition adopts the theoretical analysis of the Lyapunov direct methods, that is, the sign properties of the Lyapunov function derivative integrated along finite intervals of time, in place of the original method of the sign properties of the time derivative of the Lyapunov function itself. This is the new sufficient criteria to relax the stability condition and is used to generate techniques for the robust design of control systems with structured perturbations. Using this relaxing stability conditions, the selection of Lyapunov candidate function is of various forms. In this paper, the quadratic form is selected. this generated techniques has been demonstrated by recent research interest in the area of robust control design and confirms that estimation of robustness bounds will be improved upon those obtained by results of the original Lyapunov method. In this paper, the symbolic algebraic procedures are utilized and the calculating errors are reduced in the numerical procedures. The application of numerical procedures can prove the improvements in estimations of robustness for one-and more structured perturbations. The applicable systems is assumed to be linear with time-varying with nonlinear bounded perturbations. This new techniques will be extended to other nonlinear systems with various forms of uncertainties, especially in the nonlinear case of the unstructured perturbations and also with various control method.

• Geomechanics and Engineering
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• v.8 no.2
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• pp.187-220
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• 2015

Soil disturbance induced by installation of mandrel driven vertical drains decreases the in situ horizontal hydraulic conductivity of the soil in the vicinity of the drains, decelerating the consolidation rate. According to available literature, several different profiles for the hydraulic conductivity variation with the radial distance from the vertical drain, influencing the excess pore water pressure dissipation rate, have been identified. In addition, it is well known that the visco-plastic properties of the soil also influence the excess pore water pressure dissipation rate and consequently the settlement rate. In this study, a numerical solution adopting an elastic visco-plastic model with nonlinear creep function incorporated in the consolidation equations has been developed to investigate the effects of disturbed zone properties on the time dependent behaviour of soft soil deposits improved with vertical drains and preloading. The employed elastic visco-plastic model is based on the framework of the modified Cam-Clay model capturing soil creep during excess pore water pressure dissipation. Besides, nonlinear variations of creep coefficient with stress and time and permeability variations during the consolidation process are considered. The predicted results have been compared with V$\ddot{a}$sby test fill measurements. According to the results, different variations of the hydraulic conductivity profile in the disturbed zone result in varying excess pore water pressure dissipation rate and consequently varying the effective vertical stresses in the soil profile. Thus, the creep coefficient and the creep strain limit are notably influenced resulting in significant changes in the predicted settlement rate.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.2
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• pp.81-87
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• 1996

Time delay control(TDC) law has been recently suggested as an effective control technique for nonlinear time-varying systems with uncertain dynamics and/or unpredictable disturbances. This paper focuses on the applications of the TDC algorithm to torque control of an engine system and speed control of an engine/automatic transmission system. Through the stability analysis of the engien system based on TDC, determination of the appropriate time delay and control factor is investigated. It was revealed that the size of time delay of the TDC law should be greater than that of transport delay of the system for both stability and better control performance. Simulation and experimental results for the engine torque control and engine/automatic transmission speed control systems show both relatively good command following and disturbance rejection properties. However, TDC controller shows rather slow responses when applied to the system with large transport delay.

• 한국전산유체공학회:학술대회논문집
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• 2011.05a
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• pp.458-464
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• 2011

A new method identifies coupled fluid-structure system with a reduced set of state variables is presented. Assuming that the structural model is known a priori either from an analysis or a test and using linear transformations between structural and aeroelastic states, it is possible to deduce aerodynamic information from sampled time histories of the aeroelastic system. More specifically given a finite set of structural modes the method extracts generalized aerodynamic force matrix corresponding to these mode shapes. Once the aerodynamic forces are known, an aeroelastic reduced-order model can be constructed in discrete-time, state-space format by coupling the structural model and the aerodynamic system. The resulting reduced-order model is suitable for constant Mach, varying density analysis.

• Proceedings of the KIEE Conference
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• 2006.07a
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• pp.78-80
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• 2006

High speed electric trains have nonlinear loads including converters and inverters for the control synchronous motors. Harmonic field measurements have shown that the harmonic contents of a waveform varies with time. Direct application of the harmonic assessment to the snapshot measurements would result in ambiguous conclusions depending on which instant is sampled. A cumulative probabilistic approach is the most commonly used method to solve time varying harmonics. This paper provides an in depth analysis on harmonics field measurement of the high speed electric train loads, harmonics assessment by the international harmonic standards IEC 61000-3-6 and IEEE Std. 519-1992, and harmonics simulation using EDSA program for the case study.

• Journal of the Korea institute for structural maintenance and inspection
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• v.26 no.3
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• pp.48-54
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• 2022

This research describes a quantitative procedure used to estimate the effect of concrete cracking on stiffness degradation of concrete shear walls and provides analytical references for the seismic design of concrete shear walls. As preliminary research on the seismic response of concrete shear walls, nonlinear transient analysis was performed with commercial FE software. The study presents the nonlinear time history analysis results in terms of concrete damage and cracking behavior induced by seismic input motions. By varying the input motions, concrete strength and shear wall thickness, the seismic responses of a shear wall were examined with nonlinear time history analysis, and the progressive cracking behavior and corresponding hysteresis loop were described. Based on the analysis results, frequency and stiffness degradation of the shear wall from progressive concrete damage and cracking were captured with respect to the seismic levels. The results of this study suggest that stiffness degradation from concrete cracking should be appropriately considered when determining the seismic capacity of RC shear wall structures.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.171-176
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• 2016

In this paper, we consider a regulation problem of nonlinear systems under two triangular conditions where there possibly exist unbounded parameters in the systems. We propose a state feedback controller with dynamic gains in order to deal with unbounded parameters based on the condition of the time-varying rate of the growing parameter. The analysis of our control scheme is carried out by Lyapunov stability method. Our control method is verified by simulation results.