• Smart Structures and Systems
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• v.5 no.3
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• pp.209-221
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• 2009

A control algorithm for seismic protection of building structures based on the theory of variable structural control or sliding mode control is presented. The paper focus in the design of sliding surface. A method for determining the sliding surface by pole assignment algorithm where the poles of the system in the sliding surface are obtained on-line, based on the frequency content of the incoming earthquake signal applied to the structure, is proposed. The proposed algorithm consists of the following steps: (i) On-line FFT process is applied to the incoming part of the signal and its frequency content is recognized. (ii) A transformation of the frequency content to the complex plane is performed and the desired location of poles of the controlled structure on the sliding surface is estimated. (iii) Based on the estimated poles the sliding surface is obtained. (iv) Then, the control force which will drive the response trajectory into the estimated sliding surface and force it to stay there all the subsequent time is obtained using Lyapunov stability theory. The above steps are repeated continuously for the entire duration of the incoming earthquake. The potential applications and the effectiveness of the improved control algorithm are demonstrated by numerical examples. The simulation results indicate that the response of a structure is reduced significantly compared to the response of the uncontrolled structure, while the required control demand is achievable.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.429-434
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• 2016

This paper introduces a stabilization condition for polynomial fuzzy systems that guarantees $H_{\infty}$ performance under the imperfect premise matching. An $H_{\infty}$ control of polynomial fuzzy systems attenuates the effect of external disturbance. Under the imperfect premise matching, a polynomial fuzzy model and controller do not share the same membership functions. Therefore, a polynomial fuzzy controller has an enhanced design flexibility and inherent robustness to handle parameter uncertainties. In this paper, the stabilization conditions are derived from the polynomial Lyapunov function and numerically solved by the sum-of-squares (SOS) method. A simulation example and comparison of the performance are provided to verify the stability analysis results and demonstrate the effectiveness of the proposed stabilization conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.249-255
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• 2010

The paper proposes a new type of robust speed control strategy for permanent magnet synchronous motor by using PD-sliding mode hybrid control. The PD control has a good performance in the transient region while the sliding mode controller provides the robustness against system uncertainties. Taking advantages of the two control strategies, the proposed control method utilizes the PD control in the approaching region to the sliding surface and the sliding mode control near at the sliding surfaces. The chattering problem of the sliding mode controller is eliminated by applying the saturation function for the switching function of the sliding mode control. The stability of the sliding mode control is verified by using Lyapunov function with the proper selection of variable gains. It is shown that with this simple switching algorithm, stability of the overall hybrid control system is ensured. Through the simulations, the PD-sliding mode algorithm is shown to have a good performance in the transient response as well as being robust against disturbances. The robustness of the PD-sliding mode algorithm is further demonstrated against various external disturbances in the real experiments of SPMSM motor control.

• Journal of Power Electronics
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• v.14 no.4
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• pp.704-711
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• 2014

This paper proposes a combined fuzzy adaptive sliding-mode voltage controller (FASVC) for a three-phase UPS inverter. The proposed FASVC encapsulates two control terms: a fuzzy adaptive compensation control term, which solves the problem of parameter uncertainties, and a sliding-mode feedback control term, which stabilizes the error dynamics of the system. To extract precise load current information, the proposed method uses a conventional load current observer instead of current sensors. In addition, the stability of the proposed control scheme is fully guaranteed by using the Lyapunov stability theory. It is shown that the proposed FASVC can attain excellent voltage regulation features such as a fast dynamic response, low total harmonic distortion (THD), and a small steady-state error under sudden load disturbances, nonlinear loads, and unbalanced loads in the existence of the parameter uncertainties. Finally, experimental results are obtained from a prototype 1 kVA three-phase UPS inverter system via a TMS320F28335 DSP. A comparison of these results with those obtained from a conventional sliding-mode controller (SMC) confirms the superior transient and steady-state performances of the proposed control technique.

• Journal of Electrical Engineering and Technology
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• v.13 no.3
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• pp.1304-1316
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• 2018

An adaptive sliding-mode observer for speed estimation in sensorless vector controlled induction machine drives is proposed in this paper to balance the dilemma between the requirement of fast reaching transient and the chattering phenomenon reduction on the sliding-mode surface. It is well known that the sliding-mode observer (SMO) suffers from the chattering phenomenon. However, the reduction of the chattering phenomenon will lead to a slow transient process. In order to balance this dilemma, an adaptive exponential reaching law is introduced into SMO by optimizing the reaching way to the sliding-mode surface. The adaptive exponential reaching law is based on the options of an exponential term that adapts to the variations of the sliding-mode surface and system states. Moreover, the proposed sliding-mode observer considering adaptive exponential reaching law, which is called adaptive sliding-mode observer (ASMO), is capable for reducing the chattering phenomenon and decreasing the reaching time simultaneously. The stability analysis for ASMO is achieved based on Lyapunov stability theory. Simulation and experimental results both demonstrate the correctness and the effectiveness of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.8
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• pp.703-710
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• 2001

The nonlinear observers are proposed for a nonlinear system. To improve the characteristics such as stability, convergence, and $H^{\infty}$ filter performance criterion, we utilize an $H^{\infty}$ filter Riccati equation or a modified $H^{\infty}$ filter Riccati equation with a freedom parameter. Using the Lyapunov function method, the characteristics of the observers are analyzed. Then the in-flight alignment for a strapdown inertial navigation system(SDINS) is designed using the proposed observer. And the additive quaternion error model is especially used to reduce the uncertainty of the SDINS error model. Simulation results show that the observer with the modified $H^{\infty}$ filter Riccati equation effectively improves the performance of the in-flight alignment.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.10
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• pp.181-186
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• 2012

In this paper, we describe the synthesis of robust and non-fragile Kalman filter design for a class of uncertain linear system with polytopic uncertainties and filter gain variations. The sufficient condition of filter existence, the design method of robust non-fragile filter, and the measure of non-fragility in filter are presented via LMIs(Linear Matrix Inequality) technique. And the obtained sufficient condition can be represented as PLMIs(parameterized linear matrix inequalities) that is, coefficients of LMIs are functions of a parameter confined to a compact set. Since PLMIs generate infinite LMIs, we use relaxation technique, find the finite solution for robust non-fragile filter, and show that the resulting filter guarantees the asymptotic stability with parameter uncertainties and filter fragility. Finally, a numerical example will be shown.

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.4
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• pp.411-419
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• 2005

In this paper, a sliding mode observer for solar array current estimation in the photovoltaic power generation system is presented. The solar array current estimation Information is obtained from the sliding mode observer and fed into the maximum power point tracker to update the reference voltage. The parameter values such as inverter dc link capacitances cm be changed up to 50$\%$ from their nominal values and the linear observer can't estimate the correct state values under the parameter variations and noisy environments. The configuration of sliding mode observer is simple, but it shows the robust tracking performance against parameter variations and modeling uncertainties. In this paper, the method for constructing the sliding mode observer using equivalent control input is presented and the convergence of the proposed observer is verified by the Lyapunov method. The mathematical modeling and the experimental results verify the validity of the proposed method.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.229-232
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• 2005

In this paper, an image-based "approach-align -grasp" visual servo control design is proposed for the problem of object grasping, which is based on the binocular stand-alone system. The basic idea consists of considering a vision system as a specific sensor dedicated a task and included in a control servo loop, and we perform automatic grasping follows the classical approach of splitting the task into preparation and execution stages. During the execution stage, once the image-based control modeling is established, the control task can be performed automatically. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories by using the Jacobian matrix, which is proved by the Lyapunov stability theory. And we also stress the importance of projective invariant object/gripper alignment. The alignment between two solids in 3-D projective space can be represented with view-invariant, more precisely; it can be easily mapped into an image set-point without any knowledge about the camera parameters. The main feature of this method is that the accuracy associated with the task to be performed is not affected by discrepancies between the Euclidean setups at preparation and at task execution stages. Then according to the projective alignment, the set point can be computed. The robot gripper will move to the desired position with the image-based control law. In this paper we adopt a constant Jacobian online. Such method describe herein integrate vision system, robotics and automatic control to achieve its goal, it overcomes disadvantages of discrepancies between the different Euclidean setups and proposes control law in binocular-stand vision case. The experimental simulation shows that such image-based approach is effective in performing the precise alignment between the robot end-effector and the object.

• Nuclear Engineering and Technology
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• v.47 no.7
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• pp.838-848
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• 2015

One of the most important operations in nuclear power plants is load following, in which an imbalance of axial power distribution induces xenon oscillations. These oscillations must be maintained within acceptable limits otherwise the nuclear power plant could become unstable. Therefore, bounded xenon oscillation is considered to be a constraint for the load following operation. In this paper, the design of a sliding mode control (SMC), which is a robust nonlinear controller, is presented.SMCis ameansto control pressurized water nuclear reactor (PWR) power for the load following operation problem in a way that ensures xenon oscillations are kept bounded within acceptable limits. The proposed controller uses constant axial offset (AO) strategy to ensure xenon oscillations remain bounded. The constant AO is a robust state constraint for the load following problem. The reactor core is simulated based on the two-point nuclear reactor model with a three delayed neutron groups. The stability analysis is given by means of the Lyapunov approach, thus the control system is guaranteed to be stable within a large range. The employed method is easy to implement in practical applications and moreover, the SMC exhibits the desired dynamic properties during the entire output-tracking process independent of perturbations. Simulation results are presented to demonstrate the effectiveness of the proposed controller in terms of performance, robustness, and stability. Results show that the proposed controller for the load following operation is so effective that the xenon oscillations are kept bounded in the given region.