• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.9
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• pp.1461-1467
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• 2001

This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.

• Journal of Ocean Engineering and Technology
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• v.19 no.5 s.66
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• pp.58-64
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• 2005

In this paper, a feedback linearizing anti-sway control law, using a 2-D model for container cranes, is investigated. The equations of motion are first derived from Lagrange's equation. Then, by substituting the sway dynamics into the trolley dynamics, a reduction of variables from three (trolley, hoist, sway) to two (trolley, hoist) is pursued. The anti-sway control law is designed based on the Lyapunov stability theorem. The proposed control law guarantees the uniform asymptotic stability of the closed-loop system. The simulation results of the derived control law, using MATLAB/Simulink, are compared with those of the sliding mode control law, noted in previous literature. Also, experimental results using a 3-D pilot crane are provided.

• Journal of Power Electronics
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• v.17 no.4
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• pp.983-990
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• 2017

This paper proposes a model predictive control based on the discrete Lyapunov function to improve the performance of power electronic converters. The proposed control technique, based on the finite control set model predictive control (FCS-MPC), defines a cost function for the control law which is determined under the Lyapunov stability theorem with a control error compensation. The steady state and dynamic performance of the proposed control strategy has been tested under a single phase AC/DC voltage source rectifier (S-VSR). Experimental results demonstrate that the proposed control strategy not only offers global stability and good robustness but also leads to a high quality sinusoidal current with a reasonably low total harmonic distortion (THD) and a fast dynamic response under linear loads.

• Journal of Korean Tunnelling and Underground Space Association
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• v.5 no.1
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• pp.3-11
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• 2003

Face stability of a tunnel is a main concern during tunnel excavation. However, there has been only a few studies on this problem while a lot of researches on the support systems have been carried out. In addition, when tunneling is performed below the groundwater level, the groundwater flows into the tunnel so that the seepage forces generated on the tunnel face might give rise to a serious potential for the face instability. In this study, the face stability was evaluated by simultaneously considering two factors: one is the effective stress calculated by upper bound theorem; the other is the seepage forces acting on the tunnel face obtained by numerical analysis under the condition of steady-state groundwater flow. Tunneling in difficult geological conditions often requires auxiliary techniques to guarantee safe tunnel excavations and/or to prevent damage to structures and services around the tunnel. The steel pipe-reinforced multistep grouting has been recently applied to tunnel sites in Korea. Face stability of a tunnel with the steel pipe-reinforced multistep grouting was also analyzed in this study.

• Geomechanics and Engineering
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• v.11 no.4
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• pp.471-492
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• 2016

Underground tunnelling is one of the sustainable construction methods which can facilitate the increasing passenger transportation in the urban areas and benefit the community in the long term. Tunnelling in various ground conditions requires careful consideration of the stability factor. This paper investigates three dimensional stability of a shallow circular tunnel in a layered soil. Upper bound theorem of limit analysis was utilised to solve the tunnel face stability problem. A three dimensional kinematic admissible failure mechanism was improved to model a layered soil and limiting assumptions of the previous studies were resolved. The study includes calculation of the minimum support pressure acting on the face of the excavation in closed-face excavations. The effects of the characteristics of the layers on the minimum support pressure were examined. It was found that the ratio of the thickness of cover layers particularly when a weak layer is overlying a stronger layer, has the most significant influence on the minimum tunnel support pressure. Comparisons have been made with the results of the numerical modelling using FLAC3D software. Results of the current study were in a remarkable agreement with those of numerical modelling.

• Communications of the Korean Mathematical Society
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• v.20 no.1
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• pp.93-106
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• 2005

In this paper, we obtain the generalization of the Hyers-Ulam-Rassias stability in the sense of Gavruta and Ger of the generalized G-type functional equations of the form $f({{\varphi}(x)) = {\Gamma}(x)f(x)$. As a consequence in the cases ${\varphi}(x) := x+p:= x+1$, we obtain the stability theorem of G-functional equation : the reciprocal functional equation of the double gamma function.

• Journal of the Chungcheong Mathematical Society
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• v.21 no.1
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• pp.1-14
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• 2008

In this paper, we prove the Hyers-Ulam-Rassias stability of the Cauchy functional equation f(x+y) = f(x)+f(y) and of the Jensen functional equation $2f(\frac{x+y}{2})=f(x)+f(y)$ over the p-adic field ${\mathbb{Q}}_p$. The concept of Hyers-Ulam-Rassias stability originated from the Th.M. Rassias' stability theorem that appeared in his paper: On the stability of the linear mapping in Banach spaces, Proc. Amer. Math. Soc. 72 (1978), 297-300.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.76-79
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• 2001

This paper is concerned with a stability analysis of Madam Type fuzzy systems. It Introduces the canonical form of an unforced fuzzy system and its stability theorem suggested in the previous study. Then it gives new simplified stability conditions based on the Lyapunov function method. A common positive definite matrix in the stability conditions is searched by the LMI method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.10
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• pp.1908-1913
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• 2010

In this paper, a robust variable structure tracking controller is designed for the mixed tracking control of highly nonlinear rigid robot manipulators for the first time. The mixed control problem under consideration is extended from the basic tracking problem, with the different initial condition of both the planned trajectory and link of robots. This control problem in robotics is not addressed to until now. The tracking accuracy to the sliding trajectory after reaching is analyzed. The stability of the closed loop system is investigated in detail in Theorem 2. The results of Theorem 2 provide the stable condition for control gains. Combing the results of Theorem 1 and Theorem 2 gives rise to possibility of designing the improved variable structure tracking controller to guarantee the tracking error from the determined sliding trajectory within the prescribed accuracy after reaching. The usefulness of the algorithm has been demonstrated through simulation studies on the mixed tracking control of a two.link robot under parameter uncertainties and payload variations.

• Smart Structures and Systems
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• v.23 no.6
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• pp.641-651
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• 2019

The stochastic stability control of the parameter-excited vibration of an inclined stay cable with multiple modes coupling under random and periodic combined support disturbances is studied by using the direct eigenvalue analysis approach based on the response moment stability, Floquet theorem, Fourier series and matrix eigenvalue analysis. The differential equation with time-varying parameters for the transverse vibration of the inclined cable with control under random and deterministic support disturbances is derived and converted into the randomly and deterministically parameter-excited multi-degree-of-freedom vibration equations. As the stochastic stability of the parameter-excited vibration is mainly determined by the characteristics of perturbation moment, the differential equation with only deterministic parameters for the perturbation second moment is derived based on the $It{\hat{o}}$ stochastic differential rule. The stochastically and deterministically parameter-excited vibration stability is then determined by the deterministic parameter-varying response moment stability. Based on the Floquet theorem, expanding the periodic parameters of the perturbation moment equation and the periodic component of the characteristic perturbation moment expression into the Fourier series yields the eigenvalue equation which determines the perturbation moment behavior. Thus the stochastic stability of the parameter-excited cable vibration under the random and periodic combined support disturbances is determined directly by the matrix eigenvalues. The direct eigenvalue analysis approach is applicable to the stochastic stability of the control cable with multiple modes coupling under various periodic and/or random support disturbances. Numerical results illustrate that the multiple cable modes need to be considered for the stochastic stability of the parameter-excited cable vibration under the random and periodic support disturbances, and the increase of the control damping rather than control stiffness can greatly enhance the stochastic stability of the parameter-excited cable vibration including the frequency width increase of the periodic disturbance and the critical value increase of the random disturbance amplitude.