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RISS 인기검색어
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Ping Sun,Shuoyu Wang 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.5
In this study, a new nonlinear tracking control method with velocity constraints performance is proposedfor omnidirectional rehabilitative training walker. The aim of the study is to design an asymptotically stable nonfragilecontroller that can guarantee the safety of the rehabilitee and ensure tracking on a training trajectory plannedby a physical therapist. According to Lyapunov theory, the guaranteed cost non-fragile controller can be designed tomaintain stability in terms of solutions of linear matrix inequalities. The concept of safety velocity is given and thesufficient conditions for the existence of such a controller with safety velocity constraints performance are derived. As an application, simulation results confirm the effectiveness of the proposed method and verify that the walkercan provide safe training velocity.
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Ping Sun,Shuoyu Wang 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.2
In this study, the problem of guaranteed cost non-fragile tracking control on the omnidirectional rehabilitative training walker is examined. The nonlinear redundant input method is proposed when one wheel actuator fault occurs. The aim of the study is to design an asymptotically stable controller that can guarantee the safety of the user and ensure tracking on a training path planned by a physical therapist. The guaranteed cost control and the asymptotically zero state detectable concept of the walker are presented, and the model of redundant degree is constructed. The cost performance index is defined to restrain initial oversize input forces. On the grounds of LMI, a controller with gain variations that can satisfy asymptotic stability is obtained using a common Lyapunov function for admissible uncertainties resulting from an actuator fault. Simulation results confirm the effectiveness of the proposed method and verify that the walker can provide safe sequential motion when one wheel actuator is at fault.
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Study on Restoring Force Model of RACFST Frame Infilled with RHB Masonry Wall
Ercong Meng,Yalin Yu,Yan Jiang,Shuoyu Liu,Yisheng Su 한국강구조학회 2022 International Journal of Steel Structures Vol.22 No.2
The establishment of a reasonable restoring force model is the basis for popularizing the application of the structure of recycled aggregate concrete fi lled steel tube (RACFST) frame infi lled with recycled hollow block (RHB) masonry wall. To achieve this goal, 2 specimens of RACFST frames infi lled with RHB masonry walls were designed under cyclic reversed load, and the hysteretic and skeleton curves were obtained. The results show that the hysteretic curves of specimens present plump spindle shape, meaning the structure has good energy dissipation ability. The working stages of specimens can be divided into four stages including integral elastic working stage of fi ller wall and frame, frame elastic working stage, elastic–plastic working stage and failure stage. Based on the parallel model of wall and frame, the calculation model for the inter-story bearing capacity, lateral stiff ness and unloading stiff ness of specimens were put forward respectively. Furthermore, the four polyline restoring force model for the structure was built, and it had good agreement with the experimental hysteretic curves.
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