• 제목/요약/키워드: nonlinear adaptive control

검색결과 749건 처리시간 0.022초

Active mass driver control system for suppressing wind-induced vibration of the Canton Tower

  • Xu, Huai-Bing;Zhang, Chun-Wei;Li, Hui;Tan, Ping;Ou, Jin-Ping;Zhou, Fu-Lin
    • Smart Structures and Systems
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    • 제13권2호
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    • pp.281-303
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    • 2014
  • In order to suppress the wind-induced vibrations of the Canton Tower, a pair of active mass driver (AMD) systems has been installed on the top of the main structure. The structural principal directions in which the bending modes of the structure are uncoupled are proposed and verified based on the orthogonal projection approach. For the vibration control design in the principal X direction, the simplified model of the structure is developed based on the finite element model and modified according to the field measurements under wind excitations. The AMD system driven by permanent magnet synchronous linear motors are adopted. The dynamical models of the AMD subsystems are determined according to the open-loop test results by using nonlinear least square fitting method. The continuous variable gain feedback (VGF) control strategy is adopted to make the AMD system adaptive to the variation in the intensity of wind excitations. Finally, the field tests of free vibration control are carried out. The field test results of AMD control show that the damping ratio of the first vibration mode increases up to 11 times of the original value without control.

복합잡음 환경에서 비선형 필터를 사용한 영상복원 (An Image Restoration using Nonlinear Filter in Mixed Noise Environment)

  • ;김남호
    • 한국정보통신학회논문지
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    • 제17권10호
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    • pp.2447-2453
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    • 2013
  • 디지털 영상은 획득, 저장 및 전송하는 과정에서 잡음에 의해 영상의 열화가 발생하고 있으며, 가우시안 또는 임펄스 잡음이 대표적이다. 한편, 영상은 복합잡음에 의해 훼손되는 경향이 많으며, 이러한 복합잡음을 제거하기 위해 다양한 연구가 진행되고 있다. 본 논문에서는 복합잡음을 제거하기 위해, 먼저 잡음의 종류를 판단한 후, 판단된 결과에 따라 변형된 스위칭 메디안 필터와 변형된 적응 가중치 필터로 처리하는 알고리즘을 제안하였으며, 시뮬레이션 결과 우수한 잡음제거 특성을 나타내었다. 그리고 객관적 판단을 위해 기존의 방법들과 비교하였으며, 판단의 기준으로 PSNR(peak signal to noise ratio)을 사용하였다.

XY 테이블의 신경망제어 (Neuro-controller for a XY positioning table)

  • 장준오
    • 한국지능시스템학회논문지
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    • 제14권3호
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    • pp.375-382
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    • 2004
  • 신경회로망을 이용한 XY 테이블의 비선형 보상기법을 제안한다. 제안된 신경망 제어기는 시스템의 비선형 성분에 의한 성능저하를 보상하는 신경회로망과 시스템의 안정화를 위한 비례미분(PD) 제어기로 구성된다. 신경망 보상 구조가 적응적이고 추적오차와 파라미터 추정치가 유계가 되는 신경망 파라미터 동조알고리듬과 안정도 증명을 제시한다. 신경망 제어기를 위치 테이블에 실험함으로써 비선형 성분에 의한 성능저하를 줄이는 효과를 보여준다.

Advanced Polynomial Neural Networks Architecture with New Adaptive Nodes

  • Oh, Sung-Kwun;Kim, Dong-Won;Park, Byoung-Jun;Hwang, Hyung-Soo
    • Transactions on Control, Automation and Systems Engineering
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    • 제3권1호
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    • pp.43-50
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    • 2001
  • In this paper, we propose the design procedure of advance Polynomial Neural Networks(PNN) architecture for optimal model identification of complex and nonlinear system. The proposed PNN architecture is presented as the generic and advanced type. The essence of the design procedure dwells on the Group Method of Data Handling(GMDH). PNN is a flexible neural architecture whose structure is developed through learning. In particular, the number of layers of the PNN is not fixed in advance but is generated in a dynamic way. In this sense, PNN is a self-organizing network. With the aid of three representative numerical examples, compari-sons show that the proposed advanced PNN algorithm can produce the model with higher accuracy than previous other works. And performance index related to approximation and generalization capabilities of model is evaluated and also discussed.

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Feasibility Confirmation of Angular Velocity Stall Control for Small-Scaled Wind Turbine System by Phase Plane Method

  • Asharif, Faramarz;Shiro, Tamaki;Teppei, Hirata;Nagado, Tsutomu;Nagata, Tomokazu
    • IEIE Transactions on Smart Processing and Computing
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    • 제2권4호
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    • pp.240-247
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    • 2013
  • The main aim of this study was to suppress the angular velocity against strong winds during storms and analyze the stability and performance of the phase plane method. The utilization of small-scale wind turbine system has become common in agriculture, houses, etc. Therefore, it is considered to be a scheme for preserving the natural energy or avoiding the use of fossil fuels. Moreover, settling small-scaled wind turbines is simpler and more acceptable compared to ordinary huge wind turbines. In addition, after converting the energy there is no requirement for distribution. Therefore, a much lower cost can be expected for small-scaled wind turbines. On the other hand, this system cannot be operated continuously because the small-scaled wind turbine consists of a small blade that has low inertia momentum. Therefore, it may exceed the boundary of angular velocity, which may cause a fault in the system due to the centrifugal force. The aim of this study was to reduce the angular velocity by controlling the stall factor. Stall factor control consists of two control methods. One is a shock absorber that is loaded in the junction of the axis of the blade of the wind turbine gear wheel and the other is pitch angle control. Basically, the stall factor itself exhibits nonlinear behavior. Therefore, this paper confirmed the feasibility of stall factor control in producing desirable performance whilst maintaining stability.

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An Evaluation of Multiple-input Dual-output Run-to-Run Control Scheme for Semiconductor Manufacturing

  • Fan, Shu-Kai-S.;Lin, Yen
    • Industrial Engineering and Management Systems
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    • 제4권1호
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    • pp.54-67
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    • 2005
  • This paper provides an evaluation of an optimization-based, multiple-input double-output (MIDO) run-to-run (R2R) control scheme for general semiconductor manufacturing processes. The controller in this research, termed adaptive dual response optimizing controller (ADROC), can serve as a process optimizer as well as a recipe regulator between consecutive runs of wafer fabrication. In evaluation, it is assumed that the equipment model could be appropriately described by a pair of second-order polynomial functions in terms of a set of controllable variables. Of practical relevance is to consider a drifting effect in the equipment model since in common semiconductor practice the process tends to drift due to machine aging and tool wearing. We select a typical application of R2R control to chemical mechanical planarization (CMP) in semiconductor manufacturing in this evaluation, and there are five different CMP process scenarios demonstrated, including mean shift, variance increase, and IMA disturbances. For the controller, ADROC, an on-line estimation technique is implemented in a self-tuning (ST) control manner for the adaptation purpose. Subsequently, an ad hoc global optimization algorithm based on the dual response approach, arising from the response surface methodology (RSM) literature, is used to seek the optimum recipe within the acceptability region for the execution of next run. The main components of ADROC are described and its control performance is assessed. It reveals from the evaluation that ADROC can provide excellent control actions for the MIDO R2R situations even though the process exhibits complicated, nonlinear interaction effects between control variables, and the drifting disturbances.

2족 보행 로봇의 보행 안정성 향상을 위한 ZPM보상 및 임피던스 제어 (ZPM Compensation and Impedance Control for Improving Walking Stability of Biped Robots)

  • 정호암;박종현
    • 대한기계학회논문집A
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    • 제24권4호
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    • pp.1007-1015
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    • 2000
  • This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

카오틱 신경망과 PD제어기를 이용한 푸마 로봇의 궤적제어에 관한 연구 (A Study on Trajectory Control of PUMA Robot using Chaotic Neural Networks and PD Controller)

  • 장창화;김상희;안희욱
    • 전자공학회논문지SC
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    • 제37권5호
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    • pp.46-55
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    • 2000
  • 본 논문은 카오틱 신경망과 PD 제어기를 이용한 로봇 시스템의 직접적응제어 방식에 관한 것이다. 카오틱 신경망은 상·하층 결합계수 외에 궤환 결합계수와 동일 층 내의 결합계수를 가지며, 뉴런자체의 충분한 비선형성 때문에 강한 동적특성을 가지고 있다. 그러나 신경망의 구조 및 학습의 문제점으로 인하여 동적 시스템의 제어에 적용되지 못하고 있다. 본 논문에서는 기존의 카오틱 신경망을 제어 분야에 적용하기 위하여 적합한 구조로 수정하고 수정된 신경망의 학습에 관하여 고찰하였다. 제안된 신경망은 모의 실험을 통하여 3 축 푸마 로봇의 경로 제어에 적용하였다. 카오틱 신경망 제어기는 PD 제어기와 병렬로 구성하여 학습 초기의 안정성을 확보하였고, 제어대상의 비선형성을 보상하는 보상 제어기의 역할을 수행하도록 하였다

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Apply evolved grey-prediction scheme to structural building dynamic analysis

  • Z.Y. Chen;Yahui Meng;Ruei-Yuan Wang;Timothy Chen
    • Structural Engineering and Mechanics
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    • 제90권1호
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    • pp.19-26
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    • 2024
  • In recent years, an increasing number of experimental studies have shown that the practical application of mature active control systems requires consideration of robustness criteria in the design process, including the reduction of tracking errors, operational resistance to external disturbances, and measurement noise, as well as robustness and stability. Good uncertainty prediction is thus proposed to solve problems caused by poor parameter selection and to remove the effects of dynamic coupling between degrees of freedom (DOF) in nonlinear systems. To overcome the stability problem, this study develops an advanced adaptive predictive fuzzy controller, which not only solves the programming problem of determining system stability but also uses the law of linear matrix inequality (LMI) to modify the fuzzy problem. The following parameters are used to manipulate the fuzzy controller of the robotic system to improve its control performance. The simulations for system uncertainty in the controller design emphasized the use of acceleration feedback for practical reasons. The simulation results also show that the proposed H∞ controller has excellent performance and reliability, and the effectiveness of the LMI-based method is also recognized. Therefore, this dynamic control method is suitable for seismic protection of civil buildings. The objectives of this document are access to adequate, safe, and affordable housing and basic services, promotion of inclusive and sustainable urbanization, implementation of sustainable disaster-resilient construction, sustainable planning, and sustainable management of human settlements. Simulation results of linear and non-linear structures demonstrate the ability of this method to identify structures and their changes due to damage. Therefore, with the continuous development of artificial intelligence and fuzzy theory, it seems that this goal will be achieved in the near future.

Effects of interface delay in real-time dynamic substructuring tests on a cable for cable-stayed bridge

  • Marsico, Maria Rosaria
    • Smart Structures and Systems
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    • 제14권6호
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    • pp.1173-1196
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    • 2014
  • Real-time dynamic substructuring tests have been conducted on a cable-deck system. The cable is representative of a full scale cable for a cable-stayed bridge and it interacts with a deck, numerically modelled as a single-degree-of-freedom system. The purpose of exciting the inclined cable at the bottom is to identify its nonlinear dynamics and to mark the stability boundary of the semi-trivial solution. The latter physically corresponds to the point at which the cable starts to have an out-of-plane response when both input and previous response were in-plane. The numerical and the physical parts of the system interact through a transfer system, which is an actuator, and the input signal generated by the numerical model is assumed to interact instantaneously with the system. However, only an ideal system manifests a perfect correspondence between the desired signal and the applied signal. In fact, the transfer system introduces into the desired input signal a delay, which considerably affects the feedback force that, in turn, is processed to generate a new input. The effectiveness of the control algorithm is measured by using the synchronization technique, while the online adaptive forward prediction algorithm is used to compensate for the delay error, which is present in the performed tests. The response of the cable interacting with the deck has been experimentally observed, both in the presence of delay and when delay is compensated for, and it has been compared with the analytical model. The effects of the interface delay in real-time dynamic substructuring tests conducted on the cable-deck system are extensively discussed.