• Proceedings of the KIEE Conference
• /
• 1998.07b
• /
• pp.647-649
• /
• 1998

This paper describes a robust stabilization of single input nonlinear systems with parametric uncertainty. We first investigate differential flatness of the nominal nonlinear systems. If a single input system is differentially flat, it possesses a flat output. And we define coordinate transformation functions via successively differentiating the flat output, and we also consider the robust fictitious controls at every differentiation of the flat output. In the new coordinates the nonlinear system is transformed into the Brunovsky normal form with matched uncertainty. With a robust control based on the Lyapunov method, the robust stabilization is achieved.

• Structural Engineering and Mechanics
• /
• v.14 no.2
• /
• pp.223-236
• /
• 2002

The main objective of the present paper is to address a formal procedure for orthotropic steel plates design. The theme of the proposed approach is to recast the design procedure into a mathematical programming model. The objective function to be optimized is the total weight of the structure. The total weight is function of its layout parameters and structural element design variables. Mean while the proposed approach takes into consideration the strength and rigidity criteria in addition to other dimensional constraints. A nonlinear programming model is developed which consists of a nonlinear objective function and a set of implicit/explicit nonlinear constraints. A transformation method is adopted for minimization strategy, where the primal model constrained problem is transformed into a sequence of unconstrained minimization models. The search strategy is based on the well-known Fletcher/Powell algorithm. The finite element technique is adopted for discretization and analysis strategies. Mindlin theory is selected to simulate the finite element model and a selective reduced integration scheme is exploited to avoid a shear lock problem.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.3
• /
• pp.175-180
• /
• 2012

A nonlinear navigation filter for biomimetic robot using analytic approximation of mean and covariance of state variable is proposed. The approximations are performed at the time update step in the filter structure. The mean is approximated to the 3rd order of Taylor's series expansion of true mean and the covariance is approximated to the 3rd order either. The famous EKF is a nonlinear filtering method approximating the mean to 1st order and the covariance to the 3rd order. The UKF approximate them to the higher orders by numerical method. The proposed method derived a analytical approximation of them for navigation system and therefore don't need so called sigma point transformation in UKF. The simulation results show that the proposed method can be a good alternative of UKF in the systems which require less computational burden.

• Advances in Computational Design
• /
• v.4 no.4
• /
• pp.397-413
• /
• 2019

In this paper, static nonlinear analysis of gable frame is performed using OpenSees software. Both geometric and material nonlinearities are considered in analyses. To consider large displacements, co-rotational coordinate transformation is used in software. The effects of symmetric and asymmetric support conditions including clamped and simple supports are studied. On the other hand, the material nonlinearity is reflected on analyses using Giuffre-Menegotto-Pinto steel material. Note that strain hardening characteristics are also considered in this model. Moreover, I-shaped cross-section is assumed for all members. The results are provided for different geometry properties of gable frame including shallow and deep inclined roof. It should be added that buckling and post-buckling behaviors of gable frame are investigated using related equilibrium paths. A comparison study is also implemented on the responses of buckling loads obtained for different support and geometry conditions. To trace snap-through paths completely, a displacement control method entitled arc-length is utilized. Findings show the capability of proposed model in nonlinear analysis of gable frames.

• Journal of Korean Society of Forest Science
• /
• v.88 no.1
• /
• pp.47-54
• /
• 1999

To estimate optimal tree diameter and height growth function in Pinus thunbergii stands with site index of 12 class, quoted from two linear models of linear transformation(1) and linear transformation (2) and four non-linear models of exponential, Gompertz, Chapman-Richards, and Weibull etc.. Analyzed correlation among the estimated tree diameter and height by these function models, and observed diameter and height growth were compared. In the results of tree diameter and height growth estimation by stand age, non-linear models showed better appropriation than linear model and Chapman-Richards model was most fitted for tree height growth but few, if any, differences among their nonlinear models. Therefore, it is consider to be much more study about non-linear model to estimate tree diameter and height growth in the actual stands hereafter.

• Steel and Composite Structures
• /
• v.32 no.2
• /
• pp.225-237
• /
• 2019

In this research, the dynamic stability and nonlinear vibration behavior of a smart rotating sandwich cylindrical shell is studied. The core of the structure is a functionally graded material (FGM) which is integrated by functionally graded piezoelectric material (FGPM) layers subjected to electric field. The piezoelectric layers at the inner and outer surfaces used as actuator and sensor, respectively. By applying the energy method and Hamilton's principle, the governing equations of sandwich cylindrical shell derived based on first-order shear deformation theory (FSDT). The Galerkin method is used to discriminate the motion equations and the equations are converted to the form of the ordinary differential equations in terms of time. The perturbation method is employed to find the relation between nonlinear frequency and the amplitude of vibration. The main objective of this research is to determine the nonlinear frequencies and nonlinear vibration control by using sensor and actuator layers. The effects of geometrical parameters, power law index of core, sensor and actuator layers, angular velocity and scale transformation parameter on nonlinear frequency-amplitude response diagram and dynamic stability of sandwich cylindrical shell are investigated. The results of this research can be used to design and vibration control of rotating systems in various industries such as aircraft, biomechanics and automobile manufacturing.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.573-576
• /
• 1996

We propose robust control scheme for flexible joint manipulator in the presence of nonlinearity and mismatched uncertainty. The control is designed based on Lyapunov approach. The robust control which is based on the computed torque scheme and state transformation via implanted control is introduced. The design procedure starts with the construction of linearized subsystems via the computed torque method and then uses state transformation. With this approach we do not impose an upper-bound constraint on the inertia matrix in case it is known. Thus, this control can be applied to arbitrary manipulators. The resulting robust control guarantees practical stability for both the transformed system and the original system. The transformation is only based on the possible bound of uncertainty.

• Proceedings of the Korean Society of Coastal and Ocean Engineers Conference
• /
• 1992.08a
• /
• pp.21-21
• /
• 1992

The paper is devoted to one of the branches tsunami. wave hydrodynamics. The theory of propagation, transformation and runup of tsunami waves taking into account the nonlinearity and the dispersion is exposed. The available data on real tsunamis are reviewed.(omitted)

• Structural Engineering and Mechanics
• /
• v.35 no.4
• /
• pp.431-457
• /
• 2010

This article provides a discussion of the mathematic modeling of connections for designing and qualifying structures, systems, and components subject to monotonic or cyclic loading. To characterize the force-deformation behavior of connections under monotonic loading, a review of the Ramberg-Osgood, Richard-Abbott, and Menegotto-Pinto models is conducted, and it is shown that these nonlinear functions can be mathematically derived by scaling up or down a linear force-deformation function. A generalized four-parameter model for simulating connection behavior is investigated to facilitate nonlinear regression analysis. In order to perform seismic analysis of frameworks, a hysteretic model accounting for loading, unloading, and reloading is described using the established monotonic model. For preliminary analysis, a method is provided to quickly determine the model parameters that fit approximately with the observed data. To reach more accurate values of the parameters, the methods of nonlinear regression analysis are investigated and the modified Levenberg-Marquardt and separable nonlinear least-square algorithms are applied in determining the model parameters. Example case studies illustrate the procedure for the computation through the use of experimental/analytical data taken form the literature. Transformation of connection curves from the three-parameter model to the four-parameter model for structural analysis is conducted based on the modeling of connections subject to fire.

• Journal of Ocean Engineering and Technology
• /
• v.22 no.5
• /
• pp.44-51
• /
• 2008

The planning and design of coastal structures against wave attack is required to accurately predict wave transformation, wave run-up, and fluid. particlevelocities an a slope. On tire other hand, in tire swash and surf zones of a natural beach, where coastal erosion and accretion occur at tire land-sea boundary, hydrodynamic analysis is essential. In this study, a RBREAK2 numerical model was created based on the nonlinear shallow water equation and laboratory measurements were carried out in terms of tire free surface elevations and velocities for tire cases of regular and irregular waves on 1 : 10 and 1 : 5 impermeable slopes. The data were used to evaluate tire applicability and limitations of tire RBREAK2 numerical model. The numerical mode1 could predict tire cross-shore variation of the wave profile reasonably well, but showed more accurate results for slopes that were steeper than 1 : 10. Except near tire wave crest, tire computed depth averaged velocities could represent tire measured profile below tire trough level fairly well.