• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.354-359
• /
• 2003

In this paper, we consider the problem of designing a simple learning variable structure system for repeatable tracking control of robot manipulators. We combine a variable structure control law as the robust part for stabilization and a feedforward learning law as the intelligent part for nonlinearity compensation. We show that the tracking error asymptotically converges to zero. Finally, we give computer simulation results in order to show the effectiveness of our method.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.321-325
• /
• 1986

A new control scheme for the state space model of the robot system using the theory of optimal multi-variable structure is presented in this paper. It is proposed to optimize multi-dimensional variable structure systems for obtaining the required stabilizing signal by minimizing a performance index with respect to the state vector in the sliding mode. It is concluded the proposed variable structure controller yields better system dynamic performance than that obtained by using the only linear optimal controller inthat responses for a step disturbance have a shorter setting time, no matter what overshoot values and rising time.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.25 no.3
• /
• pp.262-268
• /
• 1988

In this paper conditions are derived, which ensure the existence of a quasi-sliding mode on the control switching hyperplane in discrete variable structure control systems and also remove the reaching phase problem observed in continuous-time variable structure systems. In addition, a discrete variable structure tracking controller which has adaptive properties is devised based on these results. This controller has useful properties, such as small sensitivity to the variation of plant parameters and to disturbances and its performing speed is fast compared to that of other adaptive controller.

• Smart Structures and Systems
• /
• v.20 no.1
• /
• pp.23-33
• /
• 2017

Variable Curvature Friction Pendulum (VCFP) bearing is one of the alternatives to control excessive induced responses of isolated structures subjected to near-fault ground motions. The curvature of sliding surface in this isolator is varying with displacement and its function is non-spherical. Selecting the most appropriate function for the sliding surface depends on the design objectives and ground motion characteristics. To date, few polynomial functions have been experimentally tested for VCFP however it needs comprehensive parametric study to find out which one provides the most effective behavior. Herein, seismic performance of the isolated structure mounted on VCFP is investigated with two different polynomial functions of the sliding surface (Order 4 and 6). By variation of the constants in these functions through changing design parameters, 120 cases of isolators are evaluated and the most proper function is explored to minimize floor acceleration and/or isolator displacement under different hazard levels. Beside representing the desire sliding surface with adaptive behavior, it was shown that the polynomial function with order 6 has least possible floor acceleration under seven near-field ground motions in different levels.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.1120-1124
• /
• 2005

We reviewed controllers with a time delay estimation in this paper. Time delay control (TDC) and sliding mode control (SMC) are well known robust control schemes. Basically, the TDC has a main characteristic called a time delay estimation from which we can estimate the total uncertainty of a system. . The TDC causes the stick-slip in the case of systems with a friction. The so-called TDCSA which are short for TDC with switching action was developed to reduce the stick-slip. The TDC has the additional switching action term in the TDC structure. In the other hand, the SMC dose not have a time delay estimation but instead it can estimate the system uncertainty through the switching action. The SMC has a difficulty to estimate the total uncertainty of a system because it does not have a time delay estimation. In order to solve the difficulty, some control schemes were developed. Among them, we need to focus our attention on two control schemes: SMCPE and SMCTE, which are short for sliding mode control with a perturbation estimation and sliding mode control with a time delay estimation, respectively. In this paper, we analyzed and compared the characteristic of above three controllers. Even though the motives for the development of three control schemes are different, three control schemes have much in common in terms of their controller structures.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.48 no.6
• /
• pp.8-14
• /
• 2011

In this note, a proof of Utkin's theorem is presented for SI(Single input) uncertain linear systems. The invariance theorem with respect to the two transformation methods so called the two diagonalization methods is proved clearly and comparatively for SI uncertain linear systems. With respect to the sliding surface transformation, the equation of the sliding mode i.e., the sliding surface is invariant. The control inputs by the two transformation methods both have the same gains. By means of the two transformation methods, the same results can be obtained. Through an illustrative example and simulation study, the usefulness of the main results is verified.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.40 no.5
• /
• pp.445-454
• /
• 2020

Non-breakaway crashworthy sliding posts move rigidly with a vehicle in the early stage of vehicle impact. During this stage, a vehicle imparts its linear momentum to the post, experiencing first-stage speed loss followed by second-stage loss from the crush of the energy-absorbing pipe (EAP) installed under the guide rail. An EAP is the key element of a crashworthy sliding post and should be confined to the post foundation. This paper covers the development of an EAP for a sliding post of 507 kg, which is a sliding post type frequently used in Korea for cantilever signs. Detailed explanations of the designs for an EAP structure using LS-DYNA impact simulation are given, and the crashworthiness of the systems are confirmed through crash tests. The EAP presented in this paper can accommodate impacts from 0.9 ton-60 km/h to 1.3 ton-80 km/h, and is applicable to foundations up to 2.7 m in length.

• Journal of the Korean Geotechnical Society
• /
• v.20 no.8
• /
• pp.15-27
• /
• 2004

Sliding aspects of rock slope, where large-scaled tension cracks are induced during preliminary excavation, have been analyzed. Structure of rock mass is investigated by performing the electrical resistivity survey and the orientations and positions of discontinuities are measured from DOM-drilled core log. Geological evidence far primary failure movement has been detected and clay minerals which possess swelling properties are identified through XRD analysis. Slope stability is examined by considering the orientations of discontinuities and their trace distributions on the cut-face and neighboring natural slope surface. Both orientations and positions of failure-invoking discontinuity planes, traces of which are exposed within the anticipated sliding region, are concerned fur analyzing the preferred sliding directions. Regional sliding vectors are assessed based on the relative positions of potential sliding planes in the boreholes and the general trend of anticipated failure movement of rock slope is also investigated.

• Earthquakes and Structures
• /
• v.13 no.2
• /
• pp.151-164
• /
• 2017

This article aims to investigate the possible retrofitting of a deficient building with soft story failure mode by connecting it to an adjacent building which is designed based on current code with friction dampers at all floors. Low cost and high performance reliability along with significant energy dissipation pertaining to stable hysteretic loops may be considered in order to choose the proper damper for connecting adjacent buildings. After connecting two neighbouring floors by friction dampers, the sliding forces of dampers at various stories are set in two arrangements: uniform sliding force and then variable sliding force. In order to account for the stochastic nature of the seismic events, incremental dynamic analyses are employed prior and after the installation of the friction dampers at the various floors. Based on these results, fragility curves and mean annual rate of exceedance of serviceability and ultimate limit states are obtained. The results of this study show that the collapse mode of the deficient building can affect the optimum arrangement of sliding forces of friction dampers at Collapse Prevention (CP) performance level. In particular, the Immediate Occupancy (IO) performance level is not tangible to the sliding force arrangement and it depends solely on sliding force value. Generally it can be claimed that this rehabilitation scheme can turn the challenge of pounding two adjacent buildings into the opportunity of dissipating a large amount of the seismic input energy by the friction dampers, thus improving significantly the poor seismic performance of the deficient structure.

• Journal of KIISE:Databases
• /
• v.33 no.6
• /
• pp.563-577
• /
• 2006

A stream processor uses resource sharing method for efficient of limited resource in multiple continuous queries. The previous methods process aggregate queries to consist the level structure. So insert operation needs to reconstruct cost of the level structure. Also a search operation needs to search cost of aggregation information in each size of sliding windows. Therefore this paper uses linear structure for optimization of sliding window aggregations. The method comprises of making decision, generation and deletion of panes in sequence. The decision phase determines optimum pane size for holding accurate aggregate information. The generation phase stores aggregate information of data per pane from stream buffer. At the deletion phase, panes are deleted that are no longer used. The proposed method uses resources less than the method where level structures were used as data structures as it uses linear data format. The input cost of aggregate information is saved by calculating only pane size of data though numerous stream data is arrived, and the search cost of aggregate information is also saved by linear searching though those sliding window size is different each other. In experiment, the proposed method has low usage of memory and the speed of query processing is increased.