Sharif Digital Repository

In most approaches to adaptive robust control design for manipulators, a constant upper bound is considered for unmodeled dynamics. However, experiments show that the nature of the control input affects the magnitude of the unmodeled dynamics. For example, in an almost rigid manipulator where the mechanical flexibilities are considered as unmodeled dynamics, high frequency components of the input torque which are resulted form non-smooth control laws, can themselves excite system flexibilities. In this paper, we consider different characterizations of the unmodeled dynamics to take into account the effect of control input signal on the unmodeled dynamics. Simulation results illustrate the... 

Accelerograms recorded near active faults have some important characteristics that make them different from those recorded in far-fault regions. High-frequency components in acceleration records and long-period velocity pulses are among notable specifications of such ground motions. In this paper, a moving average filtering with appropriate cut-off frequency has been used to decompose the near-fault ground motions into two components having different frequency contents: first, Pulse-Type Record (PTR) that possesses long-period pulses; second, the relatively high-frequency BackGround Record (BGR), which does not include large velocity pulses. Comparing the results with those extracted through...