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Technical Report 5 presented to Professor Katsuhisa Furuta of the Mechanical and Environmental Informatic Department at Tokyo Institute of Technology, by K Tiyapan (KIT Tyabandha)

Technical Report 5 presented to Professor Katsuhisa Furuta of the Mechanical and Environmental Informatic Department at Tokyo Institute of Technology, by K Tiyapan (KIT Tyabandha)

Technical Report 5 presented to Professor Katsuhisa Furuta of the Mechanical and Environmental Informatic Department at Tokyo Institute of Technology, by K Tiyapan (KIT Tyabandha)

Technical Report 5 presented to Professor Katsuhisa Furuta of the Mechanical and Environmental Informatic Department at Tokyo Institute of Technology, by K Tiyapan (KIT Tyabandha)

Technical Report 5 presented to Professor Katsuhisa Furuta of the Mechanical and Environmental Informatic Department at Tokyo Institute of Technology, by K Tiyapan (KIT Tyabandha)

In this paper, an attenuated-chattering adaptive second order variable structure controller (ACASOVSC) is proposed for mismatched uncertain systems using a Moore-Penrose inverse method. The key achievements of this study include three tasks: 1) influence of the chattering in control input is diminished, 2) finite-time convergence of system states is guaranteed, and 3) external disturbance is generally assumed to be unknown in advance. Firstly, a switching manifold which comprises only output information is defined. Secondly, a reduced-order variable structure estimator (ROVSE) with lower dimension is designed to reduce the computation burden and enhance the robustness. Thirdly, an adaptive approach is used to guess the upper bound of the unknown exogenous disturbance. Next, an ACASOVSC is investigated for attenuating the chattering phenomenon and stabilizing the system. Then, a novel linear matrix inequality (LMI) constraint by the Lyapunov technique is given such that the plant is entirely invariant to matched uncertainties and asymptotically stable. Finally, a mathematical illustration is simulated, which exhibits the usefulness and the feasible application of the proposed method.

In principle, all the natural systems such as biological, ecological and economical systems are structure-variable systems (in which some environment parameters are not fixed). In this Letter we show that data sequences from many structure-variable systems are short-term predictable. We also argue how to characterize the data sequences from structure-variable systems.

This study deals with the analysis and synthesis of two classes of multivariable feedback systems, high gain feedback systems and variable structure systems (VSS), subject to parameter variations and disturbances. First is examined the insensitivity property of high gain state feedback systems. The idea of incorporating high gain feedback loops in observers is then introduced. Then the behavior of the resulting 'two-high-gain loops' system is studied. A design procedure which enhances the insensitivity of the closed loop system for the high gain feedback matrices is developed. Second, the relationship between high gain feedback systems and VSS is established. Third, the robustness property of these two classes of feedback systems with respect to model reduction is investigated. Finally, the insensitivity of these two classes of feedback control is used to enhance the reliability of interconnected systems. Design procedures of high gain feedback and variable structure controllers are illustrated in the designs for a distillation column, a synchronous machine and the longitudinal motions of an aircraft.

A method of the spatial kinematic and dynamic analysis of deformable multibody systems subject to topology changes and impacts is presented. A pieced interval analysis scheme that accounts for the change in the spatial system topology due to the changes on the connectivity between bodies is developed. Deformable bodies in the system are discretized using the finite element method and accordingly a finite set of deformation modes is employed to characterize the system vibration. Even though there are infinitely many arrangements for deformable body axes, computational difficulties may be encountered due to the use of a limited number of deformation modes. Therefore, the deformable body references have to be carefully selected, and accordingly as the system topology changes, new bases for the configuration space to another, a set of spatial interface conditions or compatibility conditions that are formulated using a set of nonlinear algebraic equations are developed. The solution of these equations uniquely define the spatial configuration of the deformable multibody system after the change in the system kinematic structure. The techniques proposed in this research are applied to several technological system such as robotic manipulators and weapon systems. Keywords: Spatial kinematics; Dynamic analysis; Deformable multibody systems; Interval analysis scheme; Nonlinear algebraic equations.

The design of a C3 system architecture for a submarine is described to illustrate a new quantitative approach for generating variable structure architectures. In these architectures, the interactions between the components of the system can change, depending on the task being processed. Colored Petri Nets are used as the appropriate mathematical formalism to represent variable architectures within a well-defined framework. The specifications of design requirements are expressed in that framework. An algorithm to compute the variable structures that satisfy design requirements as well as some generic constraints is outlined and the solutions are interpreted. Keywords: Command and control systems; Submarine communications.