• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.901-906
• /
• 1989

A robust stability problem for time delay systems is discussed by using a property of Lyapunov type operator equation. We propose a method to check the robust stability against the parameter perturbations occurring in both lumped parameter part and distributed delay element.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.258-262
• /
• 1990

Several optimum control algorithms have been proposed to minimize the robot cycle time by velocity scheduling. Most of these algorithms assume that the dynamic and kinematic characteristics of a manipulator are fixed. This paper presents the study of a minimum-time optimum control for robotic manipulators considering parameter changes. A complete set of solutions for parameter identification of the robot dynamics has been developed. The minimum-time control algorithm has been revised to be updated using estimated parameters from measurements.

• Structural Engineering and Mechanics
• /
• v.59 no.6
• /
• pp.1037-1054
• /
• 2016

Structural parameter evaluation and external force estimation are two important parts of structural health monitoring. But the structural parameter identification with limited input information is still a challenging problem. A new simultaneous identification method in time domain is proposed in this study to identify the structural parameters and evaluate the external force. Each sampling point in the time history of external force is taken as the unknowns in force evaluation. To reduce the number of unknowns for force evaluation the time domain measurements are divided into several windows. In each time window the structural excitation is decomposed by orthogonal polynomials. The time-variant excitation can be represented approximately by the linear combination of these orthogonal bases. Structural parameters and the coefficients of decomposition are added to the state variable to be identified. The extended Kalman filter (EKF) is augmented and selected as the mathematical tool for the implementation of state variable evaluation. The proposed method is validated numerically with simulation studies of a time-invariant linear structure, a hysteretic nonlinear structure and a time-variant linear shear frame, respectively. Results from the simulation studies indicate that the proposed method is capable of identifying the dynamic load and structural parameters fairly accurately. This method could also identify the time-variant and nonlinear structural parameter even with contaminated incomplete measurement.

• International Journal of Railway
• /
• v.9 no.1
• /
• pp.1-9
• /
• 2016

In order to achieve a comprehensive utilization of railway networks, it is necessary to accurately assess the timetable indicators that effect the train operation. This paper describes the parameter calibration for two timetable indicators: scheduled running time and scheduled dwell time. For the scheduled running time, an existing model is employed and the single timetable parameter (percentage of minimum running time) in that model is optimized. For the scheduled dwell time, two intrinsic characteristics: the significance of stations and the average headway at each station are proposed firstly to form a new model, and the corresponding timetable parameters (the weight of the significance and the weight of the average headway) are calibrated subsequently. The Floyd Algorithm is used to obtain the connectivity among stations, which represents the significance of the stations. A case study is conducted in a light rail transportation system with 17 underground stations. The results of this research show that the optimal value of the scheduled running time parameter can be automatically determined, and the proposed model for the scheduled dwell time works well with a high coefficient of determination and low relative root mean square error through the leave-one-out validation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.65-68
• /
• 1997

溜is paper is concerned with the controllers for time-delay systems which has an integrator. It is known that high performance can be obtained for the systems response and load disturbance rejection by adjusting the only three parameters of the modified Smith predictor. In the case of the time-delay systems with repeated poles, good performance cannot be obtained with the modified Smith predictor. But superior performance can be obtained through the intentional delay parameters mismatch. The calculating method for the approximation delay parameter values is proposed. Simulation results show the improved response characteristics with the proposed delay parameter values.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.322-326
• /
• 2003

In this paper, we establish a new robust $H_{\infty}$ performance condition for uncertain discrete-time systems with convex polytopic uncertainties. We express the condition as a set of linear matrix inequalities (LMIs), which are used to check stability and $H_{\infty}$ disturbance attenuation level by a parameter-dependent Lyapunov matrix. We show that the new condition provides less conservative result than the existing ones which use single Lyapunov matrix. We also show that the robust $H_{\infty}$ state feedback design problem for such uncertain discrete-time systems can be easily dealt with using the approach. The key point in this paper is to propose a kind of decoupling between the Lyapunov matrix and the system matrices in the parameter-dependent matrix inequality by introducing one new matrix variable.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.28 no.2
• /
• pp.146-151
• /
• 2005

Some distributions have been used for diagnosing the lead time demand distribution in inventory system. In this paper, we describe the negative binomial distribution as a suitable demand distribution for a specific retail inventory management application. We here assume that customer order sizes are described by the Poisson distribution with the random parameter following a gamma distribution. This implies in turn that the negative binomial distribution is obtained by mixing the mean of the Poisson distribution with a gamma distribution. The purpose of this paper is to give an interpretation of the negative binomial demand process by considering the sources of variability in the unknown Poisson parameter. Such variability comes from the unknown demand rate and the unknown lead time interval.

• Journal of the Korean Society for Precision Engineering
• /
• v.6 no.2
• /
• pp.30-39
• /
• 1989

Variable structure control (VSC) systems control the state vectors using sliding regime (SR) constructed switching logic, switching plane and control law. Saturation function switching logic is used to improve the drawback which occurs in traditional sign function switching logic. Switching plane with time-varying parameter is proposed to improve the drawback which occurs in switching plane with constant parameter and it is suggested the control law which has time-varying parameter. The stability of VSC system controlled by proposed time-varying SR is discussed, and the good control behavior was shown through computer simulation using proposed SR.

• Proceedings of the KIEE Conference
• /
• 2002.11c
• /
• pp.54-57
• /
• 2002

In this paper model reference adaptive control (MRAC) of linear time-varying(LTV) systems is considered. MRAC for a linear time invariant(LTI) system does not assure the boundedness of the output and parameter estimation errors in the presence of time variations of the parameters. However, changing the adaptive laws such as use of $\sigma$-modification can result in the boundedness of the output and parameter estimation errors[5]. Together with the $\sigma$-modification in the adaptive law, we also modify the control law by adding an additional term to the standard control law. The additional term leads to smaller bounds of the output and parameter estimation errors when compared to the case where only the standard control law is applied.

• Journal of The Korean Astronomical Society
• /
• v.39 no.4
• /
• pp.81-87
• /
• 2006

A relation between temperature and time has been constructed in the self-consistent model(SCM). This relation is used to calculate the a CMBR temperature. This temperature has been found to be 2.9K. The temperature gradient of microwave background radiation(CMBR) is calculated in the Self Consistent Model. Two relations between Hubble parameter and time derivative of the temperature, have been presented in two different cases. In the first case the temperature is treated as a function of time only, while in the other one, it is assumed to be a function in time and solid angle, beside the assumption that the universe expands adiabatically.