• Journal of Power Electronics
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• 제19권5호
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• pp.1193-1202
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• 2019

A SMPMSM drive system is a typical nonlinear system with time-varying parameters and unmodeled dynamics. The speed outer loop and current inner loop control structures are coupled and coexist with various disturbances, which makes the speed control of SMPMSM drive systems challenging. First, an ultra-local model of a PMSM driving system is established online based on the algebraic estimation method of model-free control. Second, based on the backstepping control framework, model-free adaptive integral backstepping (MF-AIB) control is proposed. This scheme is applied to the permanent magnet synchronous motor (PMSM) drive system of an electric vehicle for the first time. The validity of the proposed control scheme is verified by system simulations and experimental results obtained from a SMPMSM drive system bench test.

• 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.

• 전기학회논문지
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• 제67권1호
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• pp.103-113
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• 2018

In this paper, an improved integral variable structure regulation controller is designed by using a special integral sliding surface and a disturbance observer for the improved regulation control of highly nonlinear rigid robot manipulators with prescribed output performance. The sliding surface having the integral state with a special initial condition is employed in this paper to exactly predetermine the ideal sliding trajectory from a given initial condition to the desired reference without any reaching phase. And a continuous sliding mode input using the disturbance observer is also introduced in order to effectively follow the predetermined sliding trajectory within the prescribed accuracy without large computation burden. The performance of the prescribed tracking accuracy to the predetermined sliding trajectory is clearly investigated in detail through the two theorems, together with the closed loop stability. The design of the proposed regulation controller is separated into the performance design and robustness design in each independent link. The usefulness of the algorithm has been demonstrated through simulation studies on the regulation control of a two-link robot under parameter uncertainties and payload variations.

• 제어로봇시스템학회논문지
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• 제12권3호
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• pp.294-299
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• 2006

This paper studies a visual feedback control scheme for robot manipulators with camera-in-hand configurations. We design a robust controller that compensates for bounded parametric uncertainties of robot mechanical dynamics. In order to reduce steady state tracking error of the robot arms due to uncertain dynamics, integral action is included in the control input. Using the Lyapunov stability criterion, the uniform ultimate boundedness of the tracking error is proved. Simulation and experimental results with a 2-1ink robot manipulator illustrate the robustness and effectiveness of the proposed control algorithm.

• International Journal of Automotive Technology
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• 제7권5호
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• pp.547-554
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• 2006

This paper is concerned with an optimal control suspension system using the preview information of road input based on a quarter car model. The main purpose of the control is to combine good vibration isolation characteristics with improved attitude control. The optimal control law is derived with the use of calculus of variation, consisting of three parts. The first part is a full state feedback term that includes integral control acting on the suspension deflection to ensure zero steady-state deflection in response to static body forces and ramp road inputs. The second part is a feed-forward term which compensates for the body forces when they can be detected, and the third part depends on previewed road input. The performance of the suspension is evaluated in terms of frequency domain characteristics and time responses to ramp road input and cornering forces. The effects of each part of the suspension controller on the system behavior are examined.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2076-2080
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• 2005

Study in this paper concerns the optimal $H_{2}$ integral servo problems for linear crane model systems via the constraints of the derivatives of state variables added to the standard constraints. It is shown in the paper that the derivative state constrained optimal $H_{2}$ integral servo problems can be reduced to the standard optimal $H_{2}$ control problem. The main subject of the paper is to apply the results of derivative state constrained $H_{2}$ integral servo theorem in crane system. The effect of our proposed controller with respect to mitigate an under damping for crane model system is also verified.

• 전기전자학회논문지
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• 제18권2호
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• pp.255-262
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• 2014

The uncertain integral linear system is the integral-augmented uncertain system to improve the resultant performance. In this note, for a MI(Multi Input) uncertain integral linear case, Utkin's theorem is proved clearly and comparatively. With respect to the two transformations(diagonalizations), the equation of the sliding mode is invariant. By using the results of this note, in the SMC for MIMO uncertain integral linear systems, the existence condition of the sliding mode on the predetermined sliding surface is easily proved. The effectiveness of the main results is verified through an illustrative example and simulation study.

• Wind and Structures
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• 제31권4호
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• pp.287-298
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• 2020

This paper presents an experimental investigation on the surface pressures on the CAARC standard tall building model concerning the effects of freestream turbulence. Two groups of incidence turbulence are generated in the wind tunnel experiment. The first group has an approximately constant turbulence intensity of 10.3% but different turbulence integral scale varying from 0.141 m to 0.599 m or from 0.93 to 5.88 in terms of scale ratio (turbulence integral scale to building dimension). The second group presents similar turbulence integral scale but different turbulence intensity ranging from 7.2% to 13.5%. The experimental results show that the mean pressure coefficients on about half of the axial length of the side faces near the leading edge slightly decrease as the turbulence integral scale ratio that is larger than 4.25 increases, but respond markedly to the changes in turbulence intensity. The root-mean-square (RMS) and peak pressure coefficients depend on both turbulence integral scale and intensity. The RMS pressure coefficients increase with turbulence integral scale and intensity. As the turbulence integral scale increases from 0.141 m to 0.599 m, the mean peak pressure coefficient increases by 7%, 20% and 32% at most on the windward, side faces and leeward of the building model, respectively. As the turbulence intensity increases from 7.2% to 13.5%, the mean value of peak pressure coefficient increases by 47%, 69% and 23% at most on windward, side faces and leeward, respectively. The values of cross-correlations of fluctuating pressures increase as the turbulence integral scale increases, but decrease as turbulence intensity increases in most cases.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권4호
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• pp.198-204
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• 2003

In this paper, we presented a new algebraic iterative algorithm for the optimal control of the nonlinear systems. The algorithm is based on two steps. The first step transforms nonlinear optimal control problem into a sequence of linear optimal control problem using the quasilinearization method. In the second step, TPBCP(two point boundary condition problem) is solved by algebraic equations instead of differential equations using the new integral operational matrix of BPF(block pulse functions). The proposed algorithm is simple and efficient in computation for the optimal control of nonlinear systems and is less error value than that by the conventional matrix. In computer simulation, the algorithm was verified through the optimal control design of synchronous machine connected to an infinite bus.