This investigation deals with the chaotic rocking response and overturning
stability of offshore equipment subjected to base excitations due to wave-induced
motions of the supporting compliant offshore structural system. The equipment
compliant structural system is modelled as a free-standing rigid object subjected
to horizontal and vertical base accelerations. Three of...
Long bridges tend to develop large deformations under the
action of intense dynamical loads such as wind or earthquakes.
Unless these deformations are controlled in some fashion, the
structure might suffer damage or even collapse. One possible
solution to this problem is to apply external forces to the
bridge through...
A new decentralized nonlinear controller for Robot Manipulators is
presented in this thesis. Based on concepts of Lyapunov stability theory and
some control ideas proposed in [3]-[7], we obtain continuous nonlinear
decentralized control laws which guarantee position and velocity tracking to
within an arbitrarily small error.
Assumptions based on physical...
An adaptive decentralized nonlinear controller for a robot manipulator
is presented in this thesis. Based on the adaptive control schemes designed
by Seraji [18], Dai [30], and Jimenez [31], we redesigned and further
simplified the control algorithm and, as a consequence, we achieved better
path tracking performance.
The proposed adaptive...
When large disturbances occur in interconnected power systems, there exists the danger
that the power system states may leave an associated region of stability, if timely corrective action
is not taken. Open-loop remedial control actions such as field-forcing, line-tripping, switching of
series-capacitors, energizing braking resistors, etc., are helpful in reducing...
The main focus of this work is on the problem of existence of nonlinear optimal controllers
realizable by artificial neural networks. Theoretical justification, currently
available for control applications of neural networks, is rather limited. For example,
it is unclear which neural architectures are capable of performing which control
tasks. This...
Complex nonlinear and chaotic responses have been recently observed in various
compliant ocean systems. These systems are characterized by a nonlinear mooring
restoring force and a coupled fluid-structure interaction exciting force. A general class
of ocean mooring system models is formulated by incorporating a variable mooring
configuration and the exact...