• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.822-826
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• 2013

In this paper, we propose an AFDO (Adaptive Fault Diagnosis Observer) and a fault tolerant controller for a class of nonlinear continuous-time system under the nonlinear abrupt actuator faults. Together with its estimation laws, the AFDO which estimates that the actuator faults is designed by using the Lyapunov analysis. Then, based on the designed AFDO, an adaptive sliding mode controller is proposed as the fault tolerant controller. Using Lyapunov stability analysis, we also prove the uniform boundedness of the state, the output and the fault estimation errors, and the asymptotic stability of the tracking error under the nonlinear time-varying faults. Finally, we illustrate the effectiveness of the proposed diagnosis method and the control scheme thorough computer simulations.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2001년도 추계학술대회 논문집
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• pp.91-96
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• 2001

This paper presents a neural net based nonlinear adaptive controller for an autonomous underwater vehicle (AUV). AUV's dynamics are highly nonlinear and their hydrodynamic coefficients vary with different operational conditions, so it is necessary for the high performance control system of an AUV to have the capacities of learning and adapting to the change of the AUV's dynamics. In this paper a linearly parameterized neural network is used to approximate the uncertainties of the AUV's dynamics, and a sliding mode control is introduced to attenuate the effects of the neural network's reconstruction errors and the disturbances of AUV's dynamics. The presented controller is consist of three parallel schemes; linear feedback control, sliding mode control and neural network. Lyapunov theory is used to guarantee the asymptotic convergence of trajectory tracking errors and the neural network's weights errors. Numerical simulations for motion control of an AUV are performed to illustrate to effectiveness of the proposed techniques.

• 한국정밀공학회지
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• 제25권12호
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• pp.89-99
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• 2008

In this paper, the position tracking control problem of the servo system with nonlinear dynamic friction is issued. The nonlinear dynamic friction contains a directly immeasurable friction state variable and the uncertainty caused by incomplete parameter modeling and its variations. In order to provide the efficient solution to these control problems, we propose the composite control scheme, which consists of the robust friction state observer, the FNN approximator and the approximation error estimator with sliding mode control. In first, the sliding mode controller and the robust friction state observer is designed to estimate the unknown internal state of the LuGre friction model. Next, the FNN estimator is adopted to approximate the unknown lumped friction uncertainty. Finally, the adaptive approximation error estimator is designed to compensate the approximation error of the FNN estimator. Some simulations and experiments on the servo system assembled with ball-screw and DC servo motor are presented. Results show the remarkable performance of the proposed control scheme. The robust friction state observer can successfully identify immeasurable friction state and the FNN estimator and adaptive approximation error estimator give the robustness to the proposed control scheme against the uncertainty of the friction parameters.

• 한국항행학회논문지
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• 제13권5호
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• pp.756-762
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• 2009

비선형 마찰인 유압 작동기의 스틱-슬립 마찰은 정확성과 응답성에 문제가 된다. 그러므로 마찰보상은 다양한 제어알고리즘을 통하여 연구되어 왔다. 적응이산시간 슬라이딩 추종제어기는 유압작동기 내의 비선형 마찰 특성을 보상하기 위하여 적용하였다. 다오판틴 방정식을 기초로 하여 새로운 이산시간 슬라이딩 함수는 마찰과 모델링 오차를 포함하여 제어법칙을 정의하였다. 비선형 파라미터의 추종성을 기초로 슬라이딩 함수와 프로젝션 항수를 이용하여 강인성을 높였다. 시뮬레이션과 실험결과는 좋은 추종성능을 얻었다.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.146-154
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• 2006

In this paper, we propose direct and indirect adaptive fuzzy sliding mode control approaches for a class of nonaffine nonlinear systems. In the direct case, we use the implicit function theory to prove the existence of an ideal implicit feedback linearization controller, and hence approximate it to attain the desired performances. In the indirect case, we exploit the linear structure of a Takagi-Sugeno fuzzy system with constant conclusion to establish an affine-in-control model, and therefore design an indirect adaptive fuzzy controller. In both cases, the adaptation laws of the adjustable parameters are deduced from the stability analysis, in the sense of Lyapunov, to get a more accurate approximation level. In addition to their robustness, the design of the proposed approaches does not require the upper bounds of both external disturbances and approximation errors. To show the efficiency of the proposed controllers, a simulation example is presented.

• Journal of Power Electronics
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• 제7권2호
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• pp.159-173
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• 2007

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 연구회 합동 학술발표회 논문집
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• pp.23-27
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• 1998

This paper presents a new speed and position sensorless control method of permanent magnet synchronous motors based on the sliding mode observer. The sliding mode observer structure and its design method are discussed. Also, Lyapunov functions ar chosen for determining the adaptive law for the speed and the stator resistance estimator. The effectiveness of the proposed observer is confirmed by the computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1987-1992
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• 2004

A Variable Structure Model Reference Adaptive Controller (VS-MRAC) using state Variables is proposed for single input multi output systems. . The structure of the switching functions is designed based on stability requirements, and global exponential stability is proved. Transient behavior is analyzed using sliding mode control and shows perfect model following at a finite time. The effect of input disturbances on stability and transients is investigated and shows preference to the conventional MRAC schemes with integral adaptation law. Sliding surfaces are independent of system parameters and therefore VS-MRAC is insensitive to system parameter variations. Simulation is presented to clear the theoretical results.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.1083-1084
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• 2008

This paper proposes the design of anti-braking system on aircraft and wheel slip ratio control using adaptive slide mode control. By maintaining the desired wheel slip ratio under runway conditions, we can obtain the maximal frictional force and reduce the braking range. In this paper, we apply an adaptive sliding mode control to aircraft brake system and it can guarantee the robustness under variations in brake characteristics. The performance of proposed controller is verified in simulations.

• 동력기계공학회지
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• 제19권4호
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• pp.89-96
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• 2015

This paper investigates some strategies to overcome the chattering problem of the conventional sliding mode observer (SMO) and to improve the rotor position estimation performance for full range sensorless control of a PMSM. An adaptive observer gain based on the Lyapunov's stability criterion and a cascade low pass filter with advanced phase delay compensation were proposed to reduce the chattering problem and to strengthen the filtering capability of the SMO. Several cases studies through experiments were carried out to confirm conventional SMO's problems and effectiveness of the proposed strategies. The experimental results show that the proposed method gives precise estimation on speed and rotor position when the motor rotates on 2% of its rated speed.