• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.547-558
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• 2007

This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has been achieved using Energy Shaping and damping injection and Backstepping technique. Former results in hybrid or switching architectures that make stability analysis complicated whereas use of backstepping some times requires closed form explicit solutions of highly nonlinear equations resulting from partial feedback linearization. It also exhibits the phenomenon of explosions of terms resulting in a highly complicated control law. Exploiting recently introduced Dynamic Surface Control technique and using control Lyapunov function method, a novel nonlinear controller design is presented as a solution to these problems. The stability of the closed loop system is analyzed by exploiting its two-time scale nature and applying concepts from Singular Perturbation Theory. The design procedure is shown to be simpler and more intuitive than existing designs. Design has been applied to important benchmark systems belonging to the class demonstrating controller design simplicity. Advantages over conventional Energy Shaping and Backstepping controllers are analyzed theoretically and performance is verified using numerical simulations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2980-2988
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• 2000

In this paper, H(sub)$\infty$ depth and course controllers of autonomous underwater vehicles using H(sub)$\infty$ servo control are proposed. An H(sub)$\infty$ servo problem is foumulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H(sub)$\infty$servo problem is as follows; firest, this problem is modified as an H(sub)$\infty$ control problem for the generalized plant that includes a reference input mode, and than a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach, The H(sub)$\infty$depth and course controllers are designed to satisfy the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(was force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controlled are evaluated with computer simulations, and finally these simulation results show the usefulness and applicability of the propose H(sub)$\infty$ depth and course control systems.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.264-269
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• 2002

In this paper, Η$_{\infty}$ depth and course controller of an AUV(Autonomous Underwater Vehicle) using Η$_{\infty}$ servo control is proposed. The Η$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the Η$_{\infty}$ servo problem is as fellows: first, this problem is modified as an Η$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The Η$_{\infty}$ depth and course controller are designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed Η$_{\infty}$ depth and course control system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.215-215
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• 2000

In this paper, depth and course controllers of autonomous underwater vehicles using H$_{\infty}$ servo control are proposed. An H$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H$_{\infty}$ servo problem is as follows: first, this problem is modified as an H$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The H$_{\infty}$ depth and course controllers ate designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed H$_{\infty}$ depth and course control systems.

• Water for future
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• v.24 no.2
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• pp.81-95
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• 1991

For investigation of the interaction of tide and river flow, the derived equations are solved analytically using the approximation method of perturbation. The convective inertia and nonlinear bottom friction terms are included in the derivations. The harmonic analysis is applied to decompose the complicated interaction of the freshwater discharge with various constituents of tide into its individual interaction with each constituent. In this study, four main constituents(M2, S2, Kl, 01) are included. The relations of dimensionless parameters of the tide, especially the dimensionless damping modulus, are then determined for each solution. The results show that analytical solution of dimensionless damping modulus underestimates the measured value obtained from harmonic analysis. Results of water level obtained by applying the analytical model to a tidal reach of the Keum River in the years 1981 and 1982 show very good agreement with those obtained from the harmonic analysis.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.32 no.9
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• pp.659-668
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• 2008

Combustion instability has been considered as very important issue for developing gas turbine and rocket engine. There is a need for fundamental understanding of combustion instability. In this study, combustion instability was numerically and experimentally investigated in a dump combustor with bluff body. The fuel and air mixture had overall equivalence ratio of 0.9 and was injected toward dump combustor. The pressure oscillation with approximately 256Hz was experimentally obtained. For numerical simulation, the standard k-$\varepsilon$ model was used for turbulence and the hybrid combustion model (eddy dissipation model and kinetically controlled model) was applied. After calculating steady solution, unsteady calculation was performed with forcing small perturbation on initial that solution. Pressure amplitude and frequency measured by pressure sensor is nearly the same as those predicted by numerical simulation. Furthermore, it is clear that a combustion instability involving vortex shedding is affected by acoustic-vortex-combustion interaction. The phase difference between the pressure and velocity is $\pi$/2, and that between the pressure and heat release rate is in excitation range described by Rayleigh, which is obvious that combustion instability for the bluff body combustor meets thermoacoustic instability criterion.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.6
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• pp.558-571
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• 1992

In this paper, we propose an improved method of state exploration called the extended circular exploration (ECE) for the efficiency of state exploration and the reduction of explosively growing state. The ECE does not need to explore all the reachable global states, and It can be applied to JV($\boxDr$$\geq$ 2) -party protocol with alternative routes, i.e., it is applicable to the protocol In which adaptiverouting mechanism can be performed. The ECE eliminates a restriction of topology of the conventional circular exploration(CE) by exploring only those global states which are reachable, provided that the participant processes of any group of transitions proceed at the same speed, and that they can be formed as a cycle. Thus the state space explored if not exhaustive. The algorithm presented can detect deadlock error and unspecified reception error It requires storage space and /or execution time much less than those of the conventional perturbation(CP) . It might be used for a solution of the N-process collision and the interference mechanism.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.25 no.10
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• pp.1087-1094
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• 2014

An numerical technique of impedance boundary condition to improve an efficiency in the process of moment method with CFIE(Combined Field Integral Equation), which is widely used to analyze the scattering property of dielectric scatterers, and results of its cross-validations are presented in this study. Application of the impedance boundary allows to represent the equivalent surface currents of dielectric scatterer depicted by both kinds of electric/magnetic surface currents(Js, Ms) to the single surface current by Js or Ms only. Accuracy of this technique is validated by the existing CFIE and theoretical values such as Mie-series solution and small perturbation scattering model. The computational difference of less than 1 dB was verified within an imaginary part of dielectric constant more than 12, as well.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.10a
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• pp.134-143
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• 2006

Out of all types of motions the critical motions leading to capsize is roll. The dynamic amplification in case of roll motion may be large for ships as roll natural frequency generally falls within the frequency range of wave energy spectrum typical used for estimation of motion spectrum. Roll motion is highly non-linear in nature. Den are various representations of non-linear damping and restoring available in literature. In this paper an uncoupled non-linear roll equations with three representation of damping and cubic restoring term is solved using a perturbation technique. Damping moment representations are linear plus quadratic velocity damping, angle dependant damping and linear plus cubic velocity dependant damping. Numerical value of linear damping coefficient is almost same for all types but non-linear damping is different. Linear and non-linear damping coefficients are obtained form free roll decay tests. External rolling moment is assumed as deterministic with sinusoidal form. Maximum roll amplitude of non-linear roll equation with various representations of damping is calculated using analytical procedure and compared with experimental results, which are obtained form forced tests in regular waves by varying frequency with three wave heights. Experiments indicate influence of non-linearity at resonance frequency. Both experiment and analytical results indicates increase in maximum roll amplitude with wave slope at resonance. Analytical results are compared with experiment results which indicate maximum roll amplitude analytically obtained with angle dependent and cubic velocity damping are equal and difference from experiments with these damping are less compared to non-linear equation with quadratic velocity damping.

• Journal of applied mathematics & informatics
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• v.32 no.1_2
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• pp.39-53
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• 2014

In this paper, a non-asymptotic method is presented for solving singularly perturbed delay differential equations whose solution exhibits a boundary layer behavior. The second order singularly perturbed delay differential equation is replaced by an asymptotically equivalent first order neutral type delay differential equation. Then, Simpson's integration formula and linear interpolation are employed to get three term recurrence relation which is solved easily by Discrete Invariant Imbedding Algorithm. Some numerical examples are given to validate the computational efficiency of the proposed numerical scheme for various values of the delay and perturbation parameters.