• Proceedings of the KIPE Conference
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• 2019.07a
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• pp.378-379
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• 2019

본 논문은 LCL 필터를 사용하는 3상 계통연계 인버터의 그리드 전류 오차를 개선하고 고조파 왜곡 현상을 억제하기 위해 다중 공진제어 기법을 슬라이딩 평면에 적용한 슬라이딩 제어기(SMC)를 제시한다. 일반적으로 시스템 파라미터가 변경되거나 계통에 외란이 발생할 경우 슬라이딩 평면이 표류하는 현상이 나타나며 이러한 표류 현상은 시스템 정상상태 오차와 시스템에 고조파 왜곡 현상을 일으키고 계통연계 인버터의 전류 품질에 심각한 영향을 미치게 된다. 이러한 현상을 해결하기 위해 적분 함수가 추가된 SMC가 제안되었으나 해당 제어기는 효과적으로 정상상태 오차를 제거하는 반면 슬라이딩 평면의 표류현상을 충분히 줄여주지 못하는 한계를 가지고 있다. 이러한 정상상태 오차와 표류현상을 제거하기 위해 다중 공진제어 조건을 슬라이딩 평면 함수에 추가한 제어기를 제시한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.4
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• pp.385-391
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• 2014

This paper proposes fuzzy disturbance observer based multiple sliding surface control scheme for nonlinear systems with mismatched disturbance. In order to stabilize nonlinear systems with mismatched disturbance, a controller based on multiple sliding surface control scheme is designed. In addition, a fuzzy disturbance observer is used to estimate the disturbance. Using the fuzzy disturbance observer, "explosion of terms" problem and chattering problem were solved. The stability of the proposed control scheme is analyzed by Lyapunov stability theory. For the verification, we apply the proposed method to numerical examples and compare its result with that of the applied nonlinear disturbance observer based sliding mode control.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.6
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• pp.37-44
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• 1999

In this paper, we present a new sliding surface with a time-varying repeated root for fast and robust tracking of higher-order uncertain systems. The repeated root is moved to target one with stabilizing the closed-loop time-varying system in sliding mode. This initial root is obtained so that shifting distance of the surface may be minimized with respect to an initial error, and the intercept is produced so that the surface may pass the initial error. Under the allowable input, fast shifting of the surface and movement of the repeated root enable the error convergence rate to be increased. The proposed sliding mode control makes the error always remain on the surface from the beginning, and therefore, the system is more insensitive to parameter uncertainties and external disturbances. In simulation, the effectiveness of the proposed method is proved by comparison with the conventional one.

• Journal of the Institute of Convergence Signal Processing
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• v.2 no.2
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• pp.89-94
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• 2001

The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a robot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.502-507
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• 2016

In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange-Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.