• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.404-408
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• 2005

Having flexibility in a manipulator will degrade trajectory tracking control and manipulator tip positioning. In practice, however, constraints imposed by various operating requirements, will render the presence of such flexibility unavoidable. The dynamic analysis of the flexible manipulator is essential in designing proper control systems. A flexible manipulator consists of infinite number of elastic modes and the modes are usually coupled to each other. For the practicality, however, it is usually assumed that the flexible system consists of finite number of elastic modes and the modes are decoupled. These assumptions result in a linear and decoupled mathematical model of the flexible manipulator and simplify the analysis of the dynamic behavior and the design of the control system. The decoupling and linearization of the flexible link, however, has been assumed without in depth analysis. This paper focuses on the analysis of the significance of the non-linear coupling factors.

• 대한인간공학회지
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• 제30권6호
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• pp.689-694
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• 2011

Objective: The aim of this study is to evaluate the fluctuation of signal amplitude during repetitive dynamic contraction based on surface electromyography(EMG). Background: The most previous studies were considered isometric muscle contraction and they were difference to smoothing window length by moving average filter. In practical, the human movement is dynamic state. Dynamic EMG signal which indicated as the nonstationary pattern should be analyzed differently compared with the static EMG signal. Method: Ten male subjects participated in this experiment, and EMG signal was recorded by biceps brachii, anterior/posterior deltoid, and upper/lower trapezius muscles. The subject was performed to repetitive right horizontal lifting task during ten cycles. This study was considered three independent variables(muscle, amplitude processing technique, and smoothing window length) as the within-subject experimental design. This study was estimated muscular activation by means of the linear envelope technique(LE). The dependent variable was set coefficient of variation(CV) of LE for each cycle. Results: The ANOVA results showed that the main and interaction effects between the amplitude processing technique and smoothing window length were significant difference. The CV value of peak LE was higher than mean LE. According to increase the smoothing window length, this study shows that the CV trend of peak LE was decreased. However, the CV of mean LE was analyzed constant fluctuation trend regardless of the smoothing window length. Conclusion: Based on these results, we expected that using the mean LE and 300ms window length increased reproducibility and signal noise ratio during repetitive dynamic muscle contraction. Application: These results can be used to provide fundamental information for repetitive dynamic EMG signal processing.

• International Journal of Control, Automation, and Systems
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• 제2권4호
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• pp.475-484
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• 2004

In this paper, we present a dynamic output-feedback receding horizon $H_{\infty}$controller for linear discrete-time systems with disturbance. The controller is obtained numerically from the finite horizon output-feedback $H_{\infty}$optimization problem, which is, in fact, hardly solved analytically. Under a matrix inequality condition on the terminal weighting matrix, the monotonic decreasing property of the cost is shown. This property guarantees both the closed-loop stability and the $H_{\infty}$norm bound. Then, we extend the proposed design method to a reference tracking problem and a problem for time-varying systems. Numerical examples are given to illustrate the performance of the proposed controller.

• Earthquakes and Structures
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• 제16권2호
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• pp.209-219
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• 2019

Unbonded Post-Tensioned (UPT) precast concrete systems have been shown to provide excellent seismic resistance. In order to improve understanding of the dynamic response of UPT systems, a series of snap back tests on four UPT systems was undertaken consisting of one Single Rocking Wall (SRW) and three Precast Wall with End Columns (PreWEC) systems. The snap back tests provided both a static pushover and a nonlinear free vibration response of a system. As expected the SRW exhibited an approximate bi-linear inertia force-drift response during the free vibration decay and the PreWEC walls showed an inertia force-drift response with increased strength and energy dissipation due to the addition of steel O-connectors. All walls exhibited negligible residual drifts regardless of the number of O-connectors or the post-tensioning force. When PreWEC systems of the same strength were compared the inclusion of further energy dissipating O-connectors was found to decrease the measured peak wall acceleration. Both the local and global wall parameters measured at pseudo-static and dynamic loading rates showed similar behaviour, which demonstrates that the dynamic behaviour of UPT walls is well represented by pseudo-static tests. The SRW was found to have Equivalent Viscous Damping (EVD) between 0.9-3.8% and the three PreWEC walls were found to have maximum EVD of between 14.7-25.8%.

• 전자공학회논문지 IE
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• 제43권4호
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• pp.93-98
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• 2006

본 논문에서는 센서잡음을 갖는 선형동적시스템의 미지의 구동기 고장을 추정할 수 있는 적분관측기 설계에 대해서 다루었다. 일반적으로 UIO(unknown input observer) 설계 방법은 다양한 형태로 존재해 왔으나, 본 논문에서는 새로운 형태의 적분 관측기를 제안함으로써 출력 측 잡음이 있을 경우에 대해서도 미지입력으로 분류한 구동기 고장을 기존의 적분 관측기에 비해 우수한 성능으로 추정할 수 있었다.

• 제어로봇시스템학회논문지
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• 제10권7호
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• pp.658-668
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• 2004

This paper is concerned with a control allocation strategy using the dynamic inversion and the pseudo inverse control which generates the nominal control input trajectories. In addition, an autopilot design method is proposed by using time-varying control technique which is time-varying version of the pole placement of linear time-invariant system for an agile missile with aerodynamic fin and thrust vectoring control. The control allocation proposed in this paper is capable of extracting the maximum performance by combining each control effector, aerodynamic fin and thrust vectoring control. The adopted time-varying control technique for the autopilot design enhances the robustness of the tracking performance for a reference command. The main results are validated through the nonlinear simulations with aerodynamic data.

• 전자공학회논문지 IE
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• 제44권2호
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• pp.54-59
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• 2007

본 논문에서는 센서잡음이 있는 선형계의 구동기에 도입되는 미지고장을 추정하는 방법에 대해 연구하였다. 구동기의 미지 고장추정을 위하여 새로운 PI관측기를 도입함으로써 기존의 추정 방법에 비해 추정 성능을 개선시킬 수 있었으며, 시뮬레이션 결과로부터 본 연구방법의 유용성을 입증할 수 있었다.

• Journal of Mechanical Science and Technology
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• 제18권6호
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• pp.933-945
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• 2004

In this paper, S (stochastic)-eigenvalue concept and its S-eigenvector for linear continuous-time systems with probabilistic uncertainties is proposed. The proposed concept is concerned with the perturbation of eigenvalues due to the probabilistic variable parameters in the dynamic model of a plant. S-eigenstructure assignment scheme via the Sylvester equation approach based on the S-eigenvalue concept is also proposed. The proposed design schemes are illustrated by numerical examples, and applied to the longitudinal dynamics of open-loop-unstable aircraft with possible uncertainties in aerodynamic and thrust effects as well as separate dynamic pressure. These results explicitly characterize how S-eigenvalues in the complex plane may impose stability on S-eigenstructure assignment.

• 대한기계학회논문집A
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• 제29권4호
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• pp.578-583
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• 2005

This paper introduces a fast Fourier transform (FFT)-based spectral dynamic analysis method for the transient responses as well as the steady-state responses of the linear discrete systems subject to non-zero initial conditions. The forced vibration of a viscously damped three-DOF system is considered as the illustrative numerical example. The proposed spectral analysis method is evaluated by comparing its results with the exact analytical solutions and the numerical solutions obtained by the Runge-Kutta method.

• Journal of Power Electronics
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• 제14권5호
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• pp.1028-1037
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• 2014

To optimize controller design and improve static and dynamic performances of three-phase four-leg inverter systems, a compound control method that combines state feedback and quasi-sliding mode variable structure control is proposed. The linear coordinate change matrix and the state variable feedback equations are derived based on the mathematical model of three-phase four-leg inverters. Based on system relative degrees, sliding surfaces and quasi-sliding mode controllers are designed for converted linear systems. This control method exhibits the advantages of both state feedback and sliding mode control. The proposed controllers provide flexible dynamic control response and excellent stable control performance with chattering suppression. The feasibility of the proposed strategy is verified by conducting simulations and experiments.