• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1721-1726
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• 2004

The studies of the half active suspension have been performed using various suspension models. In the early days, the modeling considered the inputs to the active suspension as the linear forces. Recently, due to the development of new control theory, the forces input to the half car active suspension system has been replaced by an actual input to the hydraulic actuators. Therefore, the dynamic of the active suspension system now consists of the dynamic of half car suspension system plus the dynamic of the hydraulic actuators. This paper proposed a new modeling technique in integrating both dynamic models. The proportional integral sliding mode control technique is utilized to control the hydraulically actuated of the half car active suspension system. The performance of the half car hydraulically actuated active suspension system is simulated with a bump input. The results show that the proposed modeling technique and the proportional integral sliding mode controller are improved the ride comfort and ride handling of the half car active suspension system.

• International Journal of Naval Architecture and Ocean Engineering
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• v.9 no.4
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• pp.404-417
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• 2017

The present study numerically analyzed the dynamic behavior of 3D framed structures subject to impulsive slamming forces by violent breaking waves. The structures were modeled using multiple lumped masses for the vertical projections of each member, and the slamming forces from the breaking waves were concentrated on these lumped masses. A numerical algorithm was developed to properly incorporate the slamming forces into a dynamic analysis to numerically determine the structural responses. Then, the validity of the numerical analysis was verified using the results of an existing hydraulic experiment. The numerical and experimental results for various model structures were generally in good agreement. The uncertainties concerning the properties of the breaking waves used in the verification are also discussed here.

• Structural Engineering and Mechanics
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• v.53 no.4
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• pp.819-831
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• 2015

In this paper, we propose a new method for taking into account uncertainties based on the projection on polynomial chaos. The new approach is used to determine the dynamic response of a spur gear system with uncertainty associated to gear system parameters and this uncertainty must be considered in the analysis of the dynamic behavior of this system. The simulation results are obtained by the polynomial chaos approach for dynamic analysis under uncertainty. The proposed method is an efficient probabilistic tool for uncertainty propagation. It was found to be an interesting alternative to the parametric studies. The polynomial chaos results are compared with Monte Carlo simulations.

• Journal of the Korean Society of Safety
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• v.19 no.2
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• pp.119-124
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• 2004

The effect of soil-structure interaction becomes important in the design of civil structures such as long-span bridges, which are constructed in the site composed of soft soil. Many methodologies have been developed to account for the proper consideration of soil-structure interaction effect. However, it is difficult to estimate soil-structure interaction effect accurately becaused of many uncertainties. This paper presents the results of study on soil-structure interaction and dynamic response of a long-span bridge designed in the site composed of soft soil. The effect of the soft soil was evaluated by the use of computer program SASSI and a long-span bridge structure was modeled by finite elements. Dynamic response characteristics of a long-span bridge considering soil-structure interaction wereinvestigated.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.3
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• pp.630-635
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• 2010

In this paper, a new discrete static output feedback variable structure controller based on a new dynamic-type sliding surface and output feedback discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed dynamic-type sliding surface. The output feedback discrete version of disturbance observer is derived for effective compensation of uncertainties and disturbance. A corresponding control with disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined dynamic-type sliding surface for guaranteeing the designed output in the dynamic-type sliding surface from any initial condition for all the parameter variations and disturbances. Using Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm.

• Structural Engineering and Mechanics
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• v.25 no.2
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• pp.147-160
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• 2007

In this paper, a dynamic analysis based on the fuzzy set theory is presented as a possible complementary tool to the classical stochastic methods for dynamic analyses. Material parameters of a structure are influenced by uncertainties and therefore they are considered to be fuzzy quantities with given distributions, that means fuzzy numbers with given membership functions. The fuzzy dynamic analysis is conducted with help of fuzzy arithmetic defined on the so-called ${\alpha}$-cuts. The results of the analysis are also obtained in the form of fuzzy numbers, which compared to the stochastic methods is less computationaly expensive while at the same time they still provide information about the distribution of a quantity. This method is demonstrated on an analysis of a two-dimensional frame subjected to possible seismic load, where the uncertain eigenmodes and eigenfrequencies are used in the modal analysis.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.5-8
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• 1999

The main stream of researches on the mobile robot is planning motions of the mobile robot under nonholonomic constraints while only considering kinematic model of a mobile robot. These researches, however, assume that there is some kind of dynamic controller which can produce perfectly the same velocity that is necessary for the kinematic controller. Moreover, there are little results about the problem of integrating the nonholonomic kinematic controller and the dynamic controller for a mobile robot. Also the literature on the robustness of the controller in the presence of uncertainties or external disturbances in the dynamical model of a mobile robot is very few. Thus, in this paper, the robust adaptive controller which can achieve velocity tracking while considering not only kinematic model but also dynamic model of the mobile robot is proposed. The stability of the dynamic system will be shown through the Lyapunov method.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.9
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• pp.658-663
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• 2003

In deterministic design of feedback controllers for uncertain dynamic systems, the upper bound of the uncertainty is very important to guarantee the stability of the closed loop system. In this paper, we assume that the upper bound of the uncertainty is formulated using a Fredholm integral equation of the first kind, that is, an integral of the product of a predefined kernel with an unknown influence function. We propose an adaptation law that is capable of estimating this upper bound. Using this adaptive upper bound, we design an adaptive variable structure control (AVSC), which guarantees asymptotic stability/ultimate boundedness of uncertain dynamic systems. The illustrative example shows the proposed AVSC is effective for uncertain dynamic systems.

• Nuclear Engineering and Technology
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• v.49 no.2
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• pp.387-394
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• 2017

Seismic probabilistic risk assessment (SPRA) requires a large number of simulations to evaluate the seismic vulnerability of structural and nonstructural components in nuclear power plants. The effect of structural modeling and analysis assumptions on dynamic analysis of 3D and simplified 2D stick models of auxiliary buildings and the attached nonstructural components is investigated. Dynamic characteristics and seismic performance of building models are also evaluated, as well as the computational accuracy of the models. The presented results provide a better understanding of the dynamic behavior and seismic performance of auxiliary buildings. The results also help to quantify the impact of uncertainties associated with modeling and analysis of simplified numerical models of structural and nonstructural components subjected to seismic shaking on the predicted seismic failure probabilities of these systems.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.2
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• pp.172-182
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• 2013

This paper focuses on the modeling and intelligent control of the new Eight-Rotor MAV, which is used to solve the problem of the low coefficient proportion between lift and gravity for the Quadrotor MAV. The Eight-Rotor MAV is a nonlinear plant, so that it is difficult to obtain stable control, due to uncertainties. The purpose of this paper is to propose a robust, stable attitude control strategy for the Eight-Rotor MAV, to accommodate system uncertainties, variations, and external disturbances. First, an interval type-II fuzzy neural network is employed to approximate the nonlinearity function and uncertainty functions in the dynamic model of the Eight-Rotor MAV. Then, the parameters of the interval type-II fuzzy neural network and gain of sliding mode control can be tuned on-line by adaptive laws based on the Lyapunov synthesis approach, and the Lyapunov stability theorem has been used to testify the asymptotic stability of the closed-loop system. The validity of the proposed control method has been verified in the Eight-Rotor MAV through real-time experiments. The experimental results show that the performance of the interval type-II fuzzy neural network based adaptive sliding mode controller could guarantee the Eight-Rotor MAV control system good performances under uncertainties, variations, and external disturbances. This controller is significantly improved, compared with the conventional adaptive sliding mode controller, and the type-I fuzzy neural network based sliding mode controller.