제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제17권4호
  • /
  • Pages.295-298
  • /
  • 2011
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

DOI QR Code

유한 시간 수렴을 보장하는 타원형 슬라이딩 모드 제어기의 설계

Design of Elliptical Sliding Surface Guaranteeing Finite Time Convergence

  • 조영훈 (고려대학교 제어계측공학과) ;
  • 이용화 (고려대학교 제어계측공학과) ;
  • 박강박 (고려대학교 제어계측공학과)
  • 투고 : 2010.12.19
  • 심사 : 2010.12.29
  • 발행 : 2011.04.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

Almost all of control methods proposed so far have been designed such that the overall system guarantees asymptotic stability. It implies that the output converges to zero but not reaches to zero in a finite time. In many actual cases, however, it is preferable to design the controller such that the output gets to zero in a finite time. In this paper, we proposed a novel elliptical sliding surface. To show the effectiveness of the proposed method, experimental results are given.

키워드

참고문헌

  1. V. I. Utkin, "Variable structure systems with sliding mode," IEEE Trans. on Automatic Control, vol. 22, no. 2, pp. 212-222, Apr. 1977. https://doi.org/10.1109/TAC.1977.1101446
  2. J. Y. Hung, W. Gao, and J. C. Hung, "Variable structure control: a survey," IEEE Trans. on Industrial Electronics, vol. 40, no. 1, pp. 2-22, Feb. 1993. https://doi.org/10.1109/41.184817
  3. C. Edwards and S. K. Spurgeon, Sliding Mode Control, Taylor & Francis Ltd, 1998.
  4. M. Zhihong, A. P. Paplinski, and H. R. Wu, "A robust terminal sliding mode control scheme for rigid robotic manipulators," IEEE Trans. on Automatic Control, vol. 39, no. 12, pp. 2464-2469, Dec. 1994. https://doi.org/10.1109/9.362847
  5. L. Wang, T. Chai, and L. Zhai, "Neural-network based terminal sliding-mode control of robotic manipulators including actuator dynamics," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3296-3304, Sep. 2009. https://doi.org/10.1109/TIE.2008.2011350
  6. Y. Feng, J. Zheng, X. Yu, and N. V. Truong, "Hybrid terminal sliding-mode observer design method for a permanent-magnet synchronous motor control system," IEEE Trans. on Industrial Electronics, vol. 56, no. 9, pp. 3424-3431, Sep. 2009. https://doi.org/10.1109/TIE.2009.2025290