Proceedings of the Korea Society for Industrial Systems Conference (한국산업정보학회:학술대회논문집)

Korea Society of Industrial Information Systems (한국산업정보학회)
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Variable Structure Control for Mechatronics Application

메카트로닉스에의 적용을 위한 가변구조제어

  • Park, Jae-Sam (Dept. of Electronics Engineering, Junior College of Inchon) ;
  • Chung, Byung-Tae (Dept. of Computer Engineering, Junior College of Inchon)
  • Published : 1997.11.01
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Abstract

In this paper, a new variable structure controller (VSC) is presented. The presented VSC can be applicable to most mechatronic systems such as robotics. A VSC (or also called sliding mode control；SMC) algorithm is presented first, and next, a VSC with nonlinear integral control algorithms is presented. The algorithms use no linear approximation for the derivation of the control law or in the stability proof. It is shown that the robustness of the developed algorithms are guaranteed by the sliding mode control and that the algorithms are globally convergent.

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