• 전력전자학회논문지
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• 제4권3호
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• pp.231-239
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• 1999

변압기로써 결합된 직렬공진 부하를 가진 전압원-인버터(Voltage-Source Inverter)가 공진주파수로 작동되는 경우에 출력 전류를 제어하는 기법으로서, 개선된 전류조절형 델타변조(Current-Regulated Delta Modulator; CRDM)방식을 제안한다. 일반적인 CRDM은, 전류편차가 상당한 크기로 나타난다는 문제가 있으며, 특히 유도가열장치와 같이 부하가 변압기를 통하여 연결되는 경우에는 변압기의 자속포화 문제가 발생하므로 실제 사용에 한계가 있다. 이러한 문제를 해결하기 위하여, 자속포화 현상을 분석하고 이를 방지하기 위한 간단한 방법을 제안하며, 전류편차를 제거하기 위한 적분형 CRDM을 적용한다. 그리고 슬라이딩 모드 제어의 개념을 이용하여, 안정된 동작을 보장하는 적분기 이득의 상한치를 회로특성치로부터 구하는 방법을 제안하고, 제안된 기법의 효용성을 시뮬레이션과 실험으로써 확인한다.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.625-628
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• 2011

This paper presents an LMI-based method to design an integral sliding mode controller for a class of uncertain systems with unmatched uncertainties. The uncertain system under consideration may have unmatched parameter uncertainties in the state matrix as well as in the input matrix. Using LMIs an existence condition of a sliding surface is derived. And a switching feedback control law is given. Finally, numerical examples are given to show that the proposed method can be better than the existing results for some cases.

• 대한기계학회논문집
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• 제17권2호
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• pp.385-392
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• 1993

This paper presents a new stable composite control law for the flexible joint robot manipulators, which incorporate an additional stabilizing control law with the sliding property. The singularly perturbated models in this paper include inertia moments which are functions or the deformations of actuators as well as link positions. The values of renewedly defined fast controller variables are computer from the corrected reduced-order model without additional computational loads. Proposed schemes are compared with the conventional one. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than the conventional scheme, and especially effective for the manipulator with high joint-flexibilities.

• Journal of Advanced Marine Engineering and Technology
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• 제23권3호
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• pp.369-378
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• 1999

This paper presents position control of an electro-hydraulic servo system whoch is operated by four 2-2way high speed on-off valves with either PWM PID control method or sliding mode control method, The advantages of using high speed on-off valves instead of electo-hydraulic servo valves or electro-hydraulic proportional valves are low price robustness for oil contamination and direct control without a D/A converter. The system consists of load cylinder inertia car potentiometer and external load cylinder. The experiments were carried out under several conditions and the results were compared. As a result the sliding mode method has shown good control performance and the robust and stable positioning of the elector-hydraulic servo system can be achieved accurately.

• 로봇학회논문지
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• 제13권4호
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• pp.256-264
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• 2018

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.

• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2009년도 춘계학술발표논문집
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• pp.244-248
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• 2009

본 논문에서는 만타형상의 무인잠수정의 운동성능과 제어기설계에 대한 성능을 확인하기 위한 수학모델을 정립하여 시뮬레이션 프로그램을 개발하였다. 본 논문에 사용된 수학모델은 6자유도 운동방정식을 이용하여 Matlab / Simulink를 이용하여 시뮬레이션 프로그램을 개발하였다. 개발된 시뮬레이션 프로그램을 이용하여 만타형상무인잠수정(Manta-type unmanned underwater test vehicle)의 동역학적 운동성능을 해석하였으며, 무인잠수정의 제어성능을 해석하기 위하여 PID(비례-미분-적분)제어기와 슬라이딩모드(Sliding mode)제어기를 설계하여 만타형상무인잠수정의 제어 성능을 해석하였다. 설계된 제어기는 무인잠수정의 수심제어와 방향각제어에 사용되었다. 설계된 제어기의 성능을 확인하기 위하여 미국 해군대학원(Naval Postgraduate School)의 AUV II와 비교하였다. 설계된 수심제어와 방향각 제어기를 이용하여 만타형무인잠수정의 설계 목표에 부합하는 항해제어시뮬레이션을 실시하였다.

• 대한전자공학회논문지
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• 제27권10호
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• pp.53-59
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• 1990

로보트 매니퓰레이터를 제어하는데 있어서, 토오크 계산법을 이용한 새로운 가변구조 모델 추종제어기를 설계한다. 슬라이딩 모드가 존재하기 위한 충부조건은 Lyapunov 함수에 의해 유도된다. 기준 모델은 이중 적분기를 사용하고 가속도 입력은 시스템의 안정성과 원하는 성능을 얻기 위하여 비례-미분 제어기로 구성한다. 제안된 제어기법은 매니퓰레이터 동력학 방정식 각 항들의 상한값과 추정값을 부여함으로써 정확한 매개변수의 지식과 역행렬 계산을 요구하지 않는다. 따라서 모의실험 결과 제어된 제어기가 목적궤적의 수렴성이 개선되었음을 보여준다.

• 전기학회논문지
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• 제59권8호
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• pp.1441-1443
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• 2010

This paper presents an LMI-based method to design an integral sliding mode controller for for a class of uncertain systems with mismatched unstructured uncertainties. The uncertain system under consideration may have mismatched parameter uncertainties in the state matrix as well as in the input matrix. Using LMIs we derive an existence condition of a sliding surface. And we give a switching feedback control law. Finally, we give a numerical design example in order to show that the proposed method can be better than the existing results.

• 전기학회논문지
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• 제58권12호
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• pp.2480-2483
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• 2009

This paper presents an LMI-based method to design a integral sliding mode controller for a class of uncertain time-delay systems. Using LMIs we derive an existence condition of a sliding surface guaranteeing the asymptotic stability of the sliding mode dynamics. And we give a switching feedback control law. Our method is a generalization of the previous integral sliding mode control design methods. Since our method is based on LMIs, it gives design flexibility for combining various useful design criteria that can be captured in the LMI-based formulation. We also give LMI existence conditions of sliding surfaces guaranteeing a-stability or LQ performance constraint. Finally, we give a numerical design example to show the effectiveness of the proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.233-236
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• 2002

We consider a single-input-single-output nonlinear system which can be represented in a normal form. The nonlinear system has a modeling uncertainties including the input coefficient uncertainties. A high-gain observer is used to estimate the states variables to reject a modeling uncertainty. A globally bounded output feedback integral sliding mode control is proposed to stabilize the closed loop system. The proposed integral sliding mode control can asymptotically stabilize the closed loop system in the it presence of input coefficient uncertainty.