한국산업정보학회:학술대회논문집 (Proceedings of the Korea Society for Industrial Systems Conference)
- 한국산업정보학회 1997년도 추계학술대회 발표논문집:21세기를 향한 정보통신 기술의 전망
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- Pages.463-471
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- 1997
메카트로닉스에의 적용을 위한 가변구조제어
Variable Structure Control for Mechatronics Application
- Park, Jae-Sam (Dept. of Electronics Engineering, Junior College of Inchon) ;
- Chung, Byung-Tae (Dept. of Computer Engineering, Junior College of Inchon)
- 발행 : 1997.11.01
초록
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.