• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.640-647
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• 2007

This paper presents a joint controller for a humanoid robot based on genetic algorithm. h humanoid robot has basically instability during walking because it isn't fixed on the ground. Moreover nonlinearities of the joints increase its instability. If one of them isn't satisfied, the robot may fall down at the ground during walking. To attack one of those problems, joint controller is proposed. It can perform tracking control preciously and reduce the effect of nonlinearities by gear, limitation of the input voltage, coulomb friction and so on. This controller is based on fuzzy-sliding mode controller (FSMC) and compensator and control gains are searched by a proposed genetic algorithm. It can reduce the effect by nonlinearities. Also, to improve the tracking performance, the proposed controller has motion controller. From the given controller, a humanoid robot can moved more preciously. Here, all the processes are investigated through simulations and it is verified experimentally in a real joint system for a humanoid robot.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.11
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• pp.1663-1669
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• 2021

This paper considers the cooperative control problem for multiple leaders and a single follower with interactions. The leaders are controllable, and the follower has interactions with all leaders and is controlled by the interactions. Then, we study the cooperative control problem that achieves the consensus by controlling the leaders. The leaders and the follower are modeled by the single-integrator and the double-integrator, respectively, and it is assumed that the interactions have the nonlinearities. The leaders can estimate the interaction between the follower and exchange the estimated information with neighbors. Then, this paper proposes the consensus-based cooperative control algorithm using the information exchange of the estimated interactions and the virtual velocity variables to achieve the velocity consensus. We analyze the convergence of the agents to the common state based on the Lasalle's Invaraince Principle. Finally, we provide the numerical example to validate the theoretical results.

• Advances in nano research
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• v.16 no.3
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• pp.231-249
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• 2024

When the amplitude of the vibrations is equivalent to that clearance, the vibrations for small amplitudes will really be significantly nonlinear. Nonlinearities will not be significant for amplitudes that are rather modest. Finally, nonlinearities will become crucial once again for big amplitudes. Therefore, the concrete panel system may experience a big amplitude in this work as a result of the high temperature. Based on the 3D modeling of the shell theory, the current work shows the influences of the von Kármán strain-displacement kinematic nonlinearity on the constitutive laws of the structure. The system's governing Equations in the nonlinear form are solved using Kronecker and Hadamard products, the discretization of Equations on the space domain, and Duffing-type Equations. Thermo-elasticity Equations. are used to represent the system's temperature. The harmonic solution technique for the displacement domain and the multiple-scale approach for the time domain are both covered in the section on solution procedures for solving nonlinear Equations. An effective data-driven solution is often utilized to predict how different systems would behave. The number of hidden layers and the learning rate are two hyperparameters for the network that are often chosen manually when required. Additionally, the data-driven method is offered for addressing the nonlinear vibration issue in order to reduce the computing cost of the current study. The conclusions of the present study may be validated by contrasting them with those of data-driven solutions and other published articles. The findings show that certain physical and geometrical characteristics have a significant effect on the existing concrete panel structure's susceptibility to temperature change and GPL weight fraction. For building construction industries, several useful recommendations for improving the thermo-mechanics' behavior of structural concrete panels are presented.

• Communications of the Korean Mathematical Society
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• v.35 no.2
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• pp.517-532
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• 2020

In this paper, we consider a class of nonlocal problems with indefinite weights in Orlicz-Sobolev space. Under some suitable conditions on the nonlinearities, we establish some existence results using variational techniques and Ekeland's variational principle.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.457-460
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• 1996

An adaptive pH control is developed to manipulate the nonlinearities and time-varying properties of pH systems. In this research, we estimate two adjustable parameters by using the recursive least squares method and a nonlinear PI controller is used to control pH systems based on the estimated two parameters.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.730-735
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• 1992

In this study, heavy loads driving servo control systems, which are composed of electro-hydraulic servo-valve, hydraulic motor/cylinder, gear box and link mechanism, are investigated for implemention. To predict the performances of the systems, modelling and simulation with some nonlinearities are carried out. Simulation results are compared with experimental results.

• Proceedings of the Optical Society of Korea Conference
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• 2007.02a
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• pp.355-356
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.167-172
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• 1992

In this study, heavy loads driving control systems, which are composed of electro-hydraulic servo-valve, hydraulic motor/cylinder and gear box, are investigated for implemention. To predict the performances of the systems, modelling and simulation with some nonlinearities are carried out. Simulation results are compared with experimental results.

• Korean Journal of Mathematics
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• v.7 no.2
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• pp.171-181
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• 1999

We investigate multiplicity of solutions for a nonlinear perturbation of a parabolic operator under Dirichlet boundary condition, in a bounded domain.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.387-396
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• 2005

The Rotational/Translational Actuator (RTAC) benchmark problem considers a fourth-order dynamical system involving the nonlinear interaction of a translational oscillator and an eccentric rotational proof mass. This problem has been posed to investigate the utility of a rotational actuator for stabilizing translational motion. In order to experimentally implement any of the model-based controllers proposed in the literature, the values of model parameters are required which are generally difficult to determine rigorously. In this paper, an approach to the least-squares estimation of the parameters of a system is formulated and practically applied to the RTAC system. On the other hand, this paper shows how to model a nonlinear system as a linear uncertain system via nonparametric system identification, in order to provide the information required for linear robust $H_\infty$ control design. This method is also applied to the RTAC system, which demonstrates severe nonlinearities, due to the coupling from the rotational motion to the translational motion. Experimental results confirm that this approach can effectively condense the whole nonlinearities, uncertainties, and disturbances within the system into a favorable perturbation block.