• Journal of applied mathematics & informatics
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• v.23 no.1_2
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• pp.141-152
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• 2007

In this paper a numerical method is presented to solve singularly perturbed two points boundary value problems for second order ordinary differential equations consisting a discontinuous source term. First, in this method, an asymptotic expansion approximation of the solution of the boundary value problem is constructed using the basic ideas of a well known perturbation method WKB. Then some initial value problems and terminal value problems are constructed such that their solutions are the terms of this asymptotic expansion. These initial value problems are happened to be singularly perturbed problems and therefore fitted mesh method (Shishkin mesh) are used to solve these problems. Necessary error estimates are derived and examples provided to illustrate the method.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• Journal of applied mathematics & informatics
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• v.28 no.1_2
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• pp.411-423
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• 2010

In this paper, a numerical method for singular perturbation problems arising in chemical reactor theory for general singularly perturbed two point boundary value problems with boundary layer at one end(left or right) of the underlying interval is presented. The original second order differential equation is replaced by an approximate first order differential equation with a small deviating argument. By using the trapezoidal formula we obtain a three term recurrence relation, which is solved using Thomas Algorithm. To demonstrate the applicability of the method, we have solved four linear (two left and two right end boundary layer) and one nonlinear problems. From the results, it is observed that the present method approximates the exact or the asymptotic expansion solution very well.

• Nuclear Engineering and Technology
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• v.21 no.2
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• pp.99-110
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• 1989

The optimal control of xenon concentration in a nuclear reactor is posed as a linear quadratic regulator problem with state feedback control. Since it is not possible to measure the state variables such as xenon and iodine concentrations directly, implementation of the optimal state feedback control law requires estimation of the unmeasurable state variables. The estimation method used is based on the Luenberger observer. The set of the reactor kinetics equations is a stiff system. This singularly perturbed system arises from the interaction of slow dynamic modes (iodine and xenon concentrations) and fast dynamic modes (neutron flux, fuel and coolant temperatures). The singular perturbation technique is used to overcome this stiffness problem. The observer-based controller of the original system is effected by separate design of the observer and controller of the reduced subsystem and the fast subsystem. In particular, since in the reactor kinetics control problem analyzed in the study the fast mode dies out quickly, we need only design the observer for the reduced slow subsystem. The results of the test problems demonstrated that the state feedback control of the xenon oscillation can be accomplished efficiently and without sacrificing accuracy by using the observer combined with the singular perturbation method.

• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.758-771
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• 2021

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.13 no.4
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• pp.281-292
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• 2009

The solution of the interface problem or Poisson problem with concave corner has singular perturbation at the interface corners or singular corners. The decoupled dual singular function method (DDSFM) which exploits the singular representations of the solutions was suggested in [3, 9] and estimated optimal accuracy in [10]. The convergence rates consist with theoretical results even for the problems with very strong singularity, with the efficiency depending on parameters used in the methods. Furthermore the errors in $L^2$ and $L^\infty$-spaces display some oscillation, in the cases with meshsize not small enough. In this paper, we present an answer to remove the oscillation via numerical experiments. We observe the effects of parameters in DDSFM, and show the consisting efficiency of the method over the strong singularity.

• Journal of applied mathematics & informatics
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• v.29 no.3_4
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• pp.937-948
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• 2011

The method of Asymptotic Inner Boundary Condition for Singularly Perturbed Two-Point Boundary value Problems is presented. By using a terminal point, the original second order problem is divided in to two problems namely inner region and outer region problems. The original problem is replaced by an asymptotically equivalent first order problem and using the stretching transformation, the asymptotic inner condition in implicit form at the terminal point is determined from the reduced equation of the original second order problem. The modified inner region problem, using the transformation with implicit boundary conditions is solved and produces a condition for the outer region problem. We used Chawla's fourth order method to solve both the inner and outer region problems. The proposed method is iterative on the terminal point. Some numerical examples are solved to demonstrate the applicability of the method.

• Journal of applied mathematics & informatics
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• v.32 no.1_2
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• pp.185-201
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• 2014

In this paper, we construct a numerical method to solve singularly perturbed one-dimensional parabolic convection-diffusion problems. We use Euler method with uniform step size for temporal discretization and exponential-spline scheme on spatial uniform mesh of Shishkin type for full discretization. We show that the resulting method is uniformly convergent with respect to diffusion parameter. An extensive amount of analysis has been carried out to prove the uniform convergence with respect to the singular perturbation parameter. The obtained numerical results show that the method is efficient, stable and reliable for solving convection-diffusion problem accurately even involving diffusion parameter.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.511-520
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• 1999

An anti-reset windup (ARW) based compensation method for state constrained control systems is studied. First, a linear controller is constructed to give a desirable nominal performance ignoring state-constraints of a plant. Then, an additional compensator is introduced to provide smooth performance degradation under state-constraints of the plant. This paper focuses on the effective design method of the additional compensator. By minimizing a reasonable performance index, the proposed compensator is expressed in terms of theplant and ocntroller parameters. The resulting dynamics of the compensated controller exhibits the dominant part of the linear closed-loop system which can be seen from the singular perturbation model reducton theory. THe proposed method guarantees total stability of overall resulting systems if linear controllers were constructed to meet certain condition.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.332-335
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• 1995

A simple and effective method for improving Euclidean norm condition number for chemical processing system is presented. The singular value sensitivities of Freudenberg et al. (1982) is used to estimate the behavior of singular values of process transfer function matrix when design parameter is changed, then the condition number can be calculated straightforwardly. The method requires explicit dependencies of each transfer function matrix elements on design parameters. These dependencies can be obtained either by symbolic differentiation in the form of explicit function of design parameters, or by numerical perturbation studies for units with large and complicated models. Gerschgorin-type lower bound for minimum singular value is introduced to detect the large divergencies near singular point due to linearity of sensitivities. The case studies are performed to show the efficiency of the proposed method.