• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.1065-1074
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• 2000

A robust nonlinear $H_2$/$H_{\infty}$ control method for a parallel inverted pendulum with structured perturbation and dry friction is proposed. By the random input describing function techniques, the nonlinear dry friction is approximated into the quasi-linear system. Introducing the quadratic robustness theorem, the robust $H_2$/$H_{\infty}$ control system is constructed for the quasi-linear perturbed system. But it is difficult to design a controller due to the nonlinear correction term in Riccati equation. With some transformations on the Riccati equation containing nonlinear correction term, the design of the robust nonlinear controller can be done easily. Hence when the stiffness and mass of the parallel inverted pendulum vary in certain ranges, the proposed control scheme has the robustness for both the structured perturbation and dry friction. The results of computer simulation show the effectiveness of our proposed control method.

• International Journal of Aeronautical and Space Sciences
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• v.13 no.3
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• pp.361-368
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• 2012

This paper presents an approach on the design of a nonlinear controller to track a reference velocity for an air-breathing supersonic vehicle. The nonlinear control scheme involves an adaptation of propulsive and aerodynamic characteristics in the equations of motion. In this paper, the coefficients of given thrust and drag functions are estimated and they are used to approximate the equations of motion under varying flight conditions. The form of the function of propulsive thrust is extracted from a thrust database which is given by preliminary engine input/output performance analysis. The aerodynamic drag is approximated as a function of angle of attack and fin deflection. The nonlinear controller, designed by using the approximated nonlinear control model equations, provides engine fuel supply command to follow the desired velocity varying with time. On the other hand, the stabilization of altitude, separated from the velocity control scheme, is done by a classical altitude hold autopilot design. Finally, several simulations are performed in order to demonstrate the relevance of the controller design regarding the vehicle.

• Steel and Composite Structures
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• v.25 no.5
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• pp.617-624
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• 2017

In this study, a new empirical method is presented to obtain Dynamic Increase Factor (DIF) in nonlinear static analysis of structures against sudden removal of a gravity load-bearing element. In this method, DIF is defined as a function of minimum ratio of difference between maximum moment capacity ($M_u$) and moment demand ($M_d$) to plastic moment capacity ($M_p$) under unamplified gravity loads of elements. This function determines the residual strength of a damaged building before amplified gravity loads. For each column removal location, a nonlinear dynamic analysis and a step-by-step nonlinear static analysis are carried out and the modified empirical DIF formulas are derived, which correspond to the ratio min $[(M_u-M_d)/M_p]$ of beams in the bays immediately adjacent to the removed column, and at all floors above it. Therefore, the new DIF can be used with nonlinear static analysis instead of nonlinear dynamic analysis to assess the progressive collapse potential of a moment frame structure. The proposed DIF formulas can estimate the real residual strength of a structure based on critical member.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.7 s.238
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• pp.938-946
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• 2005

Friction is a dominant nonlinear factor in servomechanisms, which seriously deteriorates system accuracy. A friction compensator is indispensable to fabricate high-performance servomechanisms. In order to compensate for the friction in the servomechanism, identification of the friction elements is required. To estimate the friction of the servomechanism, an accurate linear element model of the system is required first. Tn this paper, a nonlinear friction model, in which static, coulomb and viscous frictions as well as Stribeck effect are included, is identified through the describing function approximation of the nonlinear element. A nonlinear element composed of two relays is intentionally devised to induce various limit cycle conditions in the velocity control loop of the servomechanism. The friction coefficients are estimated from the intersection points of the linear and nonlinear elements in the complex plane. A Butterworth filter is added to the velocity control loop not only to meet the assumption of the harmonic balance method but also to improve the accuracy of the friction identification process. Validity of the proposed method is confirmed through numerical simulations and experiments. In addition, a model-based friction compensator is applied as a feedforward controller to compensate fur the nonlinear characteristics of the servomechanism and to verify the effectiveness of the proposed identification method.

• Smart Structures and Systems
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• v.5 no.1
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• pp.69-79
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• 2009

A non-clipped semi-active stochastic optimal control strategy for nonlinear structural systems with MR dampers is developed based on the stochastic averaging method and stochastic dynamical programming principle. A nonlinear stochastic control structure is first modeled as a semi-actively controlled, stochastically excited and dissipated Hamiltonian system. The control force of an MR damper is separated into passive and semi-active parts. The passive control force components, coupled in structural mode space, are incorporated in the drift coefficients by directly using the stochastic averaging method. Then the stochastic dynamical programming principle is applied to establish a dynamical programming equation, from which the semi-active optimal control law is determined and implementable by MR dampers without clipping in terms of the Bingham model. Under the condition on the control performance function given in section 3, the expressions of nonlinear and linear non-clipped semi-active optimal control force components are obtained as well as the non-clipped semi-active LQG control force, and thus the value function and semi-active nonlinear optimal control force are actually existent according to the developed strategy. An example of the controlled stochastic hysteretic column is given to illustrate the application and effectiveness of the developed semi-active optimal control strategy.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.211-224
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• 2019

This paper deals with a nonlinear controller based on saturation functions with variable parameters for set-point regulation and trajectory tracking control of an Autonomous Underwater Vehicle (AUV). In many cases, saturation functions with constant parameters are used to limit the input signals generated by a classical PD (Proportional-Derivative) controller to avoid damaging the actuators; however this abrupt bounded harms the performance of the controller. We, therefore, propose to replace the conventional saturation function, with constant parameters, by a saturation function with variable parameters to limit the signals of a PD controller, which is the base of the nonlinear PD with gravitational/buoyancy compensation and the nonlinear PD + controllers that we propose in this paper. Consequently, the mathematical model is obtained, considering the featuring operation of the underwater vehicle LIRMIA 2, to do the stability analysis of the closed-loop system with the proposed nonlinear controllers using the Lyapunov arguments. The experimental results show the performance of an AUV (LIRMIA 2) for the depth control problems in the case of set-point regulation and trajectory tracking control.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.3
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• pp.291-305
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• 2010

A three-dimensional time-domain calculation method is of crucial importance in prediction of the motions and wave loads of a ship advancing in a severe irregular sea. The exact solution of the free surface wave-ship interaction problem is very complicated because of the essentially nonlinear boundary conditions. In this paper, an approximate body nonlinear approach based on the three-dimensional time-domain forward-speed free-surface Green function has been presented. The Froude-Krylov force and the hydrostatic restoring force are calculated over the instantaneous wetted surface of the ship while the forces due to the radiation and scattering potentials over the mean wetted surface. The time-domain radiation and scattering potentials have been obtained from a time invariant kernel of integral equations for the potentials which are discretized according to the second-order boundary element method (Hong and Hong 2008). The diffraction impulse-response functions of the Wigley seakeeping model advancing in transient head waves at various Froude numbers have been presented. A simulation of coupled heave-pitch motion of a long rectangular barge advancing in regular head waves of large amplitude has been carried out. Comparisons between the linear and the approximate body nonlinear numerical results of motions and wave loads of the barge at a nonzero Froude number have been made.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2007.05a
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• pp.382-388
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• 2007

In this paper, a modified Fuzzy C-Means (MFCM) algorithm is presented for nonlinear blind channel equalization. The proposed MFCM searches the optimal channel output states of a nonlinear channel from the received symbols, based on the Bayesian likelihood fitness function instead of a conventional Euclidean distance measure. Next, the desired channel states of a nonlinear channel are constructed with the elements of estimated channel output states, and placed at the center of a Radial Basis Function (RBF) equalizer to reconstruct transmitted symbols. In the simulations, binary signals are generated at random with Gaussian noise. The performance of the proposed method is compared with that of a hybrid genetic algorithm (GA merged with simulated annealing (SA): GASA), and the relatively high accuracy and fast searching speed are achieved.

• Journal of the Korean Society of Propulsion Engineers
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• v.15 no.6
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• pp.98-106
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• 2011

This paper reviews the state-of-the-art thermoacoustic(TA) modeling techniques and research trend to predict major parameters determining combustion instabilities in lean premixed gas turbine combustors. Linear TA modeling results give us an information on eigenfrequencies and initial growth rate of the instabilities. For the prediction, linear relation equation between acoustic waves and heat release oscillations should be derived in the determined system. Key information for this analysis is to determine the heat release fluctuations in the combustor, which is typically obtained by using n-${\tau}$ function from flame transfer function measurements and/or predictions. Great advancement in the linear TA modeling has been made over a couple of decades, and some successful prediction results have been reported in actual gas turbine combustors. However nonlinear TA model developments which are required to analyze nonlinear system behaviors such as limit cycle saturation and transition phenomena are still limited in a very simple system. In order to fully understand combustion instabilities in a complicated real system, nonlinear flame dynamics and acoustic wave interaction with nonlinear system boundary conditions should be explained from the nonlinear TA model developments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.11
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• pp.2158-2165
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• 2007

In this paper, a Modified Fuzzy C-Means algorithm with Gaussian Weights(MFCM_GW) is presented for nonlinear blind channel equalization. The proposed algorithm searches the optimal channel output states of a nonlinear channel from the received symbols, based on the Bayesian likelihood fitness function and Gaussian weighted partition matrix instead of a conventional Euclidean distance measure. Next, the desired channel states of a nonlinear channel are constructed with the elements of estimated channel output states, and placed at the center of a Radial Basis Function(RBF) equalizer to reconstruct transmitted symbols. In the simulations, binary signals are generated at random with Gaussian noise. The performance of the proposed method is compared with those of a simplex genetic algorithm(GA), a hybrid genetic algorithm(GA merged with simulated annealing(SA): GASA), and a previously developed version of MFCM. It is shown that a relatively high accuracy and fast search speed has been achieved.