• Journal of Institute of Control, Robotics and Systems
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• v.5 no.6
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• pp.705-713
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• 1999

In this paper, we propose a new motion and force control methodology for constrained robots as an approach of hybrid discrete-continuous dynamical system. The hybrid dynamic system modeling of robotic manipulation tasks with constraints is presented, and the hybrid system control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference stiffness of robot manipulator is generated by the hybrid automata as a discrete state system and the control behavior of constrained system which has poor modeling information and time-varying constraint function is improved by the constrained robots as a continuous state system. The performance of the proposed constrained motion control system is successfully evaluated via experimental studies to the constraint tasks.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.452-457
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• 2000

This paper presents control response of a semi-active electro-rheological(ER) suspension. After showing dynamic characteristics of the ER damper, 1/4 car model is formulated by incorporating with the time constant of the damping force. $H_{\infty}$ controller compensating mass and time constant uncertainties is then designed in order to suppress vibration level of the suspension. The control responses such as vertical acceleration are presented.

• Journal of Power Electronics
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• v.16 no.2
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• pp.564-571
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• 2016

This study proposes an adaptive neuro-fuzzy inference system (ANFIS)-based rotor position controller for brushless direct current (BLDC) motors to improve the control performance of the drive under transient and steady-state conditions. The dynamic response of a BLDC motor to the proposed ANFIS controller is considered as standard reference input. The effectiveness of the proposed controller is compared with that of the proportional integral derivative (PID) controller and fuzzy PID controller. The proposed controller solves the problem of nonlinearities and uncertainties caused by the reference input changes of BLDC motors and guarantees a fast and accurate dynamic response with an outstanding steady-state performance. Furthermore, the ANFIS controller provides low torque ripples and high starting torque. The detailed study includes a MATLAB-based simulation and an experimental prototype to illustrate the feasibility of the proposed topology.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.7
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• pp.515-526
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• 2003

Tutorial contents of kinematics and dynamics of a wheeled drive mobile robot are presented. Based on the dynamic model, simulation studies of position tracking of a mobile robot are performed. The control structure of several position control algorithms using visual feedback are proposed and their performances are compared. In order to compensate for uncertainties from unknown dynamics and ignored dynamic effects such as slip conditions, neural network based position control schemes are proposed. Experiments are conducted and the results show the performance of the vision based neural network control scheme fumed out to be the best among several proposed schemes.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.159-162
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• 1993

A new approach using fuzzy dynamic programming is proposed for the flexible long-term generation mix under uncertain circumstances. A characteristic feature of the presented approach is that not only fuzziness in fuel and construction cost. load growth and reliability but also many constraints of generation mix can easily be taken into account by using fuzzy dynamic programming. The method can accommodate arbitrary shape of membership function as well as the operation of pump-generator. And so more realistic solution can be obtained. The effectiveness of the proposed approach is demonstrated by the best generation mix problem of KEPCO-system which contains nuclear, coal, LNG, oil and pump-generator hydro plant in multi-years.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.69.2-69
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• 2001

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes.

• Earthquakes and Structures
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• v.22 no.2
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• pp.147-155
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• 2022

Regarding the importance of seismic pounding, the available standards and guidelines specify minimum separation distance between adjacent buildings. However, the rules in this field are generally based on some simple assumptions, and the level of confidence is uncertain. This is attributed to the fact that the relative response of adjacent structures is strongly dependent on the frequency content of the applied records and the Eigen frequencies of the adjacent structures as well. Therefore, this research aims at investigating the separation distance of the buildings through a probabilistic-based algorithm. In order to empower the algorithm, the record-to-record uncertainties, are considered by probabilistic approaches; besides, a wide extent of material nonlinear behaviors can be introduced into the structural model by the implementation of the hysteresis Bouc-Wen model. The algorithm is then simplified by the application of the linearization concept and using the response acceleration spectrum. By implementing the proposed algorithm, the separation distance in a specific probability level can be evaluated without the essential need of performing time-consuming dynamic analyses. Accuracy of the proposed method is evaluated using nonlinear dynamic analyses of adjacent structures.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.463-477
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• 1991

This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.3A
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• pp.181-188
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• 2009

This study presented the basic data for determining reasonable construction method and evaluating the structural safety of suspension bridges. The analytical program was developed to conduct initial shape and natural frequency analysis, construction stage analysis and reliability analysis considering construction sequences. This program was based on analysis models of suspension bridges and reliability theories used in the previous study. A construction method was established considering various construction variables such as construction order and construction direction of girder and synchronized construction of main and side span etc. The dynamic construction analysis by a construction scheme was conducted with the developed program. Benefits of the characteristic analysis by the construction scheme was presented estimating structural response of critical members respectively. Structural reliability analysis by construction stage was conducted considering aleatory uncertainties. The safety of suspension bridges by established construction method was quantitatively estimated using reliability index and failure probability. Analytical results were re-estimated considering epistemic uncertainties, and critical percentile distributions of risk at the construction stage were presented using the frequency histogram.

• Journal of the Society of Disaster Information
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• v.19 no.4
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• pp.976-983
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• 2023

Purpose: The dynamic behavior of a bridge structure under seismic loading depends on many uncertainties, such as the nature of the seismic waves and the material and geometric properties. However, not all uncertainties have a significant impact on the dynamic behavior of a bridge structure. Since probabilistic seismic performance evaluation considering even low-impact uncertainties is computationally expensive, the uncertainties should be identified by considering their impact on the dynamic behavior of the bridge. Therefore, in this study, a global sensitivity analysis was performed to identify the main parameters affecting the dynamic behavior of bridges with I-curved girders. Method: Considering the uncertainty of the earthquake and the material and geometric uncertainty of the curved bridge, a finite element analysis was performed, and a surrogate model was developed based on the analysis results. The surrogate model was evaluated using performance metrics such as coefficient of determination, and finally, a global sensitivity analysis based on the surrogate model was performed. Result: The uncertainty factors that have the greatest influence on the stress response of the I-curved girder under seismic loading are the peak ground acceleration (PGA), the height of the bridge (h), and the yield stress of the steel (fy). The main effect sensitivity indices of PGA, h, and fy were found to be 0.7096, 0.0839, and 0.0352, respectively, and the total sensitivity indices were found to be 0.9459, 0.1297, and 0.0678, respectively. Conclusion: The stress response of the I-shaped curved girder is dominated by the uncertainty of the input motions and is strongly influenced by the interaction effect between each uncertainty factor. Therefore, additional sensitivity analysis of the uncertainty of the input motions, such as the number of input motions and the intensity measure(IM), and a global sensitivity analysis considering the structural uncertainty, such as the number and curvature of the curved girders, are required.