• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.9-12
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• 2005

This paper presents an LMI-based method to design sliding mode observers for a class of uncertain systems. Using LIs we derive an existence condition of a sliding mode observer guaranteeing a stable sliding motion. And we give explicit formulas of the observer gain matrices. We also consider sliding mode observer design problems under an α-stability constraint or an LQ performance bound constraint. Finally, we give a numerical design example.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.14 no.1
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• pp.28-35
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• 2006

Substructure coupling or component mode synthesis may be employed in the solution of dynamic problems for large, flexible structures. The model is partitioned into several subdomains, and a generalized Craig-Bampton representation is derived. In this paper the mode sets (normal modes, constraint modes) is employed for model reduction. A generalized model reduction procedure is described. Vaious reduction methods that use constraint modes is described in detail. As examples, a flexible structure and a 10 DOF damped system are analyzed. Comparison with a conventional reduction method based on a complete model is made via eigenpair and dynamic responses.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.1370-1375
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• 2001

Substructure coupling or component mode synthesis may be employed in the solution of dynamic problems for structure. The model is partitioned into several subdomains. and a generalized Craig-Bampton representation is derived. In this paper the mode sets(normal modes. constraint modes) have been employed for model reduction. A generalized model reduction procedure has been described. Those reduction methods which adapt constraint modes have been described in detail. As examples. a flexible structure and a 10 DOF damped system are analyzed. Comparison with a conventional reduction method based on a complete model has been made via eigenpairs and dynamic responses.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.492-492
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• 2000

This paper proposes LQ optimal controller design method based on the modal decomposition. Here, the design problem of linear time-invariant systems is considered by using pencil model. The mathematical model based on matrix pencil is one of the most general representation of the system. By adding some conditions the model can be reduced to traditional system models. In pencil model, the state feedback is considered as an algebraic constraint between the state variable and the control input variable. The algebraic constraint on pencil model is called purely static mode, and is included in infinite mode. Therefore, the information of the constant gain controller is included in the purely static mode of the augmented system which consists of the plant and the control conditions. We pay attention to the coordinate transformation matrix, and LQ optimal controller is derived from the algebraic constraint of the internal variable. The proposed method is applied to the numerical examples, and the results are verified.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.2
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• pp.63-71
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• 2001

This paper introduces a method for calculation of dynamic stress occurring in flexible bodies of a moving multibody system by using commercial softwares DADS for dynamic analysis and MSC/NASTRAN for finite element analysis. Three methods for model transient response analysis of a flexible body are summarized. Elastic deformation of a flexible body can be described with normal modes and static modes composed of constraint modes and residual attachment modes. The deformation modes divided into fixed-interface modes and free-interface modes can be determined by using MSC/NASTRAN and selected for dynamic analysis. The dynamic results obtained from DADS are utilized to calculate dynamic stress by using mode-displacement method or mode-acceleration method of MSC/NASTRAN. As a numerical example of the analysis, we used a three dimensional slider-crank model with a flexible connecting rod.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.4
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• pp.21-25
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• 2005

In the dynamic analysis of a mechanism, if one or more of the components are flexible, then the simulation will not be accurate because of the violation of the rigid body assumption. Mode shapes are used to represent the dynamic behavior of an elastic structure. A modal synthesis method which uses a combination of normal modes, constraint modes, and attachment modes, was used to represent effectively the elastic deformation of a flexible multibody. Since the combination of these modes should be different for each type of connecting part, the modal synthesis method was studied for the various types of interconnecting joints. In addition, the analysis procedure for the flexible body was explained. A satellite system with flexible solar panels was chosen as an example to show the effectiveness of the proposed method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.12
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• pp.2046-2052
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• 2016

Ramp metering is one of the most efficient and widely used control methods for an intelligent transportation management system on a freeway. Its objective is to control and upgrade freeway traffic by regulating the number of vehicles entering the freeway entrance ramp, in such a way that not only the alleviation of the congestion but also the smoothing of the traffic flow around the desired density level can be achieved for the maintenance of the maximum mainline throughput. When the cycle of the signal detection is larger than that of the system process, the density tracking problem needs to be considered in the form of the discrete-time system. Therefore, a discrete-time sliding mode control method is proposed for the ramp metering problem in the presence of both input constraint in the on-ramp and exogenous disturbance in the off-ramp considering the random behavior of the driver. Simulations were performed using a validated second-order macroscopic traffic flow model in Matlab environment and the simulation results indicate that proposed control method can achieve better performance than previously well-known ALINEA strategy in the sense that mainstream flow throughput is maximized and congestion is alleviated even in the presence of input constraint and exogenous disturbance.

• ETRI Journal
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• v.35 no.3
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• pp.469-479
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• 2013

This paper proposes an efficient computation-aware mode decision and search point (SP) allocation algorithm for spatial and quality scalabilities in Scalable Video Coding. In our proposal, a linear model is derived to allocate the computation for macroblocks in enhancement layers by using the rate distortion costs of the base layer. In addition, an adaptive SP decision algorithm is proposed to decide the number of SPs for motion estimation under the constraint of the allocated computation. Experiment results demonstrate that the proposed algorithm allocates the computation resource efficiently and outperforms other works in rate distortion performance under the same computational availability constraint.

• Journal of Korea Foundry Society
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• v.10 no.6
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• pp.503-508
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• 1990

The effect of interlamellar spacing on tensile behavior and fracture mode at high temperatures has been studied for unidirectionally solidified $Al-CuAl_2$ eutectic composite. The tensile properties at room temperature in $Al-CuAl_2$ eutectic composite improved as the interlamellar spacing decreased due to the constraint effects of closely spaced lamellae, while the opposite behavior was observed at high temperatures due to the annihilation of the constraint effects by phase boundary sliding. The $Al-CuAl_2$ eutectic composite exhibited brittle fracture mode below the temperature at which the reinforcing phase softened but ductile fracture mode above the temperature.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.320-325
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• 2016

This paper presents a robust finite-time sliding mode control (SMC) scheme for unknown disturbance and unmodeled nonlinear friction and dynamics in the robotic manipulator. A finite-time SMC (FSMC) surface and finite-time sliding mode controller are constructed to obtain faster error convergence than the conventional infinite-time based SMC. By adding prescribed constraint control term to a finite-time SMC to compensate for unknown disturbance and uncertainties, a robust control scheme can be designed as well as faster convergence control. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.