• Structural Engineering and Mechanics
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• 제21권2호
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• pp.185-204
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• 2005

Variations in system parameters due to uncertainties may result in system performance deterioration. Uncertainties in modeling of structures are often considered to ensure that control system is robust with respect to response errors. Hence, the uncertain concept plays an important role in vibration control of the engineering structures. The paper discusses the robustness of the stability of vibration control systems with uncertain parameters. The vibration control problem of an uncertain system is approximated by a deterministic one. The uncertain parameters are described by interval variables. The uncertain state matrix is constructed directly using system physical parameters and avoided to use bounds in Euclidean norm. The feedback gain matrix is determined based on the deterministic systems, and then it is applied to the actual uncertain systems. A method to calculate the upper and lower bounds of eigenvalues of the close-loop system with uncertain parameters is presented. The lower bounds of eigenvalues can be used to estimate the robustness of the stability the controlled system with uncertain parameters. Two numerical examples are given to illustrate the applications of the present approach.

• International Journal of Aeronautical and Space Sciences
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• 제15권1호
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• pp.63-73
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• 2014

For robust stability analysis of parameters uncertainty missiles, the traditional frequency domain method can only analyze each respective channel at several interval points within uncertain parameter space. Discontinuous calculation and couplings between channels will lead to inaccurate analysis results. A method based on the ${\nu}$-gap metric is proposed, which is able to comprehensively evaluate the robust stability of missiles with uncertain parameters; and then a genetic-simulated annealing hybrid optimization algorithm, which has global and local searching ability, is used to search for a parameters combination that leads to the worst stability within the space of uncertain parameters. Finally, the proposed method is used to analyze the robust stability of a re-entry missile with uncertain parameters; the results verify the feasibility and accuracy of the method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.518-521
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• 1995

In this paper, a learning control problem is formulated for cooperating multiple-robot manipulators with uncertain system parameters. The commonly held object is also assumed to be unknown and the multiple-robots themselfs experience uncertain operating conditions such as link parameters, viscous friction parameters, suctions, actuator bias, and etc. Under these conditions, the learning controllers designed for learning of uncertain parameters and robot control inputs for multiple-robot systems are shown to drive the multiple-robot manipulators to follow the desired Cartesian trajectory with the desired internal forces to the unknown object.

• Structural Engineering and Mechanics
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• 제25권3호
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• pp.311-330
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• 2007

Model-based predictions of structural behavior are negatively affected by uncertainties of various type and in various stages of the structural analysis. The present paper focusses on dynamic analysis and addresses the effects of uncertainties concerning material and geometric parameters, mainly in the context of modal analysis of large-scale structures. Given the large number of uncertain parameters arising in this case, highly scalable simulation-based methods are adopted, which can deal with possibly thousands of uncertain parameters. In order to solve the reliability problem, i.e., the estimation of very small exceedance probabilities, an advanced simulation method called Line Sampling is used. In combination with an efficient algorithm for the estimation of the most important uncertain parameters, the method provides good estimates of the failure probability and enables one to quantify the error in the estimate. Another aspect here considered is the uncertainty quantification for closely-spaced eigenfrequencies. The solution here adopted represents each eigenfrequency as a weighted superposition of the full set of eigenfrequencies. In a case study performed with the FE model of a satellite it is shown that the effects of uncertain parameters can be very different in magnitude, depending on the considered response quantity. In particular, the uncertainty in the quantities of interest (eigenfrequencies) turns out to be mainly caused by very few of the uncertain parameters, which results in sharp estimates of the failure probabilities at low computational cost.

• 대한전자공학회논문지
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• 제23권5호
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• pp.653-657
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• 1986

This paper describes a method to design a guaranteed cost controller for a system with uncertain parameters. The design procedure consists of defining an arbitrary function which satisfies certain condition and minimizing it over the control input. When the method is applied to a class kof linear systems with uncertain parameters, a Riccati equation with additional terms results. A simple example is presented to illustrate the usefulness of this method.

• Structural Engineering and Mechanics
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• 제26권2호
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• pp.163-178
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• 2007

In practical engineering, the uncertain concept plays an important role in the control problems of the vibration structures. In this paper, based on matrix perturbation theory and interval finite element method, the closed-loop vibration control system with uncertain parameters is discussed. A new method is presented to develop an algorithm to estimate the upper and lower bounds of the real parts and imaginary parts of the complex eigenvalues of vibration control systems. The results are derived in terms of physical parameters. The present method is implemented for a vibration control system of the frame structure. To show the validity and effectiveness, we compare the numerical results obtained by the present method with those obtained by the classical random perturbation.

• Structural Engineering and Mechanics
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• 제20권3호
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• pp.347-362
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• 2005

The input energy to a base-isolated (BI) building during an earthquake is considered and formulated in the frequency domain. The frequency-domain approach for input energy computation has some notable advantages over the conventional time-domain approach. Sensitivities of the input energy to the BI building are derived with respect to uncertain parameters in the base-isolation system. It is demonstrated that the input energy can be of a compact form via the frequency integration of the product between the input component (Fourier amplitude spectrum of acceleration) and the structural model component (so-called energy transfer function). With the help of this compact form, it is shown that the formulation of earthquake input energy in the frequency domain is essential for deriving the sensitivities of the input energy to the BI building with respect to uncertain parameters. The sensitivity expressions provide us with information on the most unfavorable combination of the uncertain parameters which leads to the maximum energy input.

• Structural Engineering and Mechanics
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• 제86권2호
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• pp.249-260
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• 2023

The uncertainties involved in structural performances are of importance when the optimum number and property of seismic retrofit devices are determined. This paper proposes a seismic retrofit design framework for asymmetric soft-first-story buildings, considering uncertainties in the soil condition and seismic retrofit device. The effect of the uncertain parameters on the structural performance is used to find a robust and optimal seismic retrofit solution. The framework finds a robust and optimal seismic retrofit solution by finding the optimal locations and mechanical properties of the seismic retrofit device for different realizations of the uncertain parameters. The structural performance for each realization is computed to evaluate the effect of the uncertainty parameters on the seismic performance. The framework utilizes parallel processing to decrease the computationally intensive nonlinear dynamic analysis time. The framework returns a robust design solution that satisfies the given limit state for every realization of the uncertain parameters. The proposed framework is applied to the seismic retrofit design of a five-story asymmetric soft-first-story case study structure retrofitted with a viscoelastic damper. Robust optimal parameters for retrofitting a structure to satisfy the limit state for the different realizations of the uncertain parameter are found using the proposed framework. According to the performance evaluation results of the retrofitted structure, the developed framework is proved effective in the seismic retrofit of the asymmetric structure with inherent uncertainties.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.367-369
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• 1986

Guaranteed cost control is a method applicable to a class of systems with uncertain parameters that guarantees an upper bound of the cost functional. This paper is concerned with a matrix decomposition technique used to yield a reasonable upper bound of the cost functional for a finite-time LQ regulator problem. The uncertain linear systems dealt with in this paper are described by a set of state equations of single-input phase-variable canonical form which contain unknown but bounded uncertain parameters.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.225-225
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• 2000

We propose the hybrid robust controller for TDC(Time Delay Control) and SMC(Sliding Mode Control) method. TDC and SMC deal with the time-varying system parameters, unknown dynamics and unexpected disturbance. This controller is applied to follow the desired reference model for the uncertain time-varying overhead crane. The control performance is evaluated through simulation. The theoretical results indicate That the proposed controller shows excellent performance to an overhead crane with the uncertain time-varying parameters and disturbance.