• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.2
• /
• pp.151-157
• /
• 1999

In this paper, an integrated nonlinear sliding mode observer and controller has been designed in order to control of an automotive engine idle speed. The primary objective of the engine idle speed control is to maintain the desired engine idle speed despite of various torque disturbances via estimating air mass flow at the location of the injector in intake manifold by using a sliding mode observer. Simulation results show that the case where both throttle angle and ignition time are used as control inputs outperforms the case where just only throttle angle is used as a control input.

• Proceedings of the KIEE Conference
• /
• 2002.07d
• /
• pp.2262-2264
• /
• 2002

In this paper, the integral sliding mode controller developed by Utkin is considered. It is pointed out that some theoretical consideration has to be added to that controller. Another type of integral sliding mode controller developed by Park is also considered. These integral sliding mode controllers have very important results in the extension of the robustness of sliding mode to the other linear control technique.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.16 no.3
• /
• pp.67-73
• /
• 2002

This paper presents a sliding mode observer and Controller far the state estimation and the dynamic stabilization of the magnetic levitation systems. The proposed striding mode observer is constructed by means of Lyapunov stability theorem to decrease the observer error, and the sliding rode controller is designed by a linear combination of the equivalent and nonlinear control input for the estimated states. The feasibilities of the suggested design method are illustrated with the simulation results.

• Journal of Power System Engineering
• /
• v.17 no.4
• /
• pp.120-130
• /
• 2013

An adaptive PID sliding mode controller is proposed for the position control of electro-hydrostatic actuator(EHA) systems with system uncertainties and saturation in the motor. An EHA prototype is developed and system modeling and parameter identification are executed. Then, adaptive PID sliding mode controller and optimal anti-windup PID controller are designed and the performance and robustness of the two control systems are compared by experiment. It was found that the adaptive PID sliding mode control system has better performance and is more robust to system uncertainties than the optimal anti-windup PID control system.

• Transactions on Control, Automation and Systems Engineering
• /
• v.4 no.1
• /
• pp.78-83
• /
• 2002

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fully-actuated ones. However the control of an underactuated manipulator is much more difficult than that of fully- actuated robot manipulator. In this paper a complex dynamic model of a manipulator with passive joints is manipulated for sliding mode control. Sliding mode controllers are designed for this complex system and the stability of the controllers is proved mathematically. Finally a simulation for this control system is executed for evaluating the effectiveness of the designed sliding mode controller.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.3
• /
• pp.283-294
• /
• 2007

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundizing function is proposed and applied to a two-wheeled welding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the sliding surface vector including new boundizing function and the adaptation laws are chosen to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system is shown through the Lyapunov method. In addition, a simple way of measuring the errors by potentiometers is introduced. The simulations and experimental results are shown to prove the effectiveness of the proposed controller.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.26 no.5
• /
• pp.402-408
• /
• 2016

In this paper, a new approach to the terminal sliding mode control using adaptive fuzzy sliding surfaces is proposed. The idea behind this approach is to utilize an adaptive sliding surface, in which the slope of the surface is updated on line using a SISO fuzzy logic inference system. We expanded the concepts of terminal sliding mode controller and proposed the terminal sliding mode control input with continuous reaching laws. The computer simulation results have shown the improved performance of the proposed control approach in terms of a decrease in the reaching and settling times and chattering free as compared to the conventional terminal sliding mode control with a fixed sliding surface. The proposed controller has also an advantage that has less computational burden to the conventional terminal sliding mode control using one-directional fuzzy rules.

• Journal of Power Electronics
• /
• v.15 no.1
• /
• pp.39-53
• /
• 2015

This paper presents the regulation of the output voltage and inductor currents in a Single Ended Primary Inductor Converter (SEPIC), operating in the continuous conduction mode (CCM) using a sliding mode controller. Owing to the time varying nature of the SEPIC converter, designing a feedback controller is a challenging task. In order to improve the dynamic performance of the SEPIC, a Sliding Mode Controller (SMC) is developed. The developed SMC is designed by using a state space average model. The performance of the developed controller with the SEPIC converter is validated at different working conditions through Matlab simulations. It is also compared with the performance while using a PI controller. The results show that the designed controller gives very good output voltage regulation under different operating conditions such as a varying input voltage, changes in the load and component variations. A 48V, 46W experimental setup for has been developed in an analog platform to validate the performance of the proposed SMC.

• Proceedings of the KIPE Conference
• /
• 1998.11a
• /
• pp.73-77
• /
• 1998

The conventional sliding mode controller (SMCr) approach is often impractical or difficult when applied to high order process because the number of tuning parameters in the SMCr increases with the order of the plant. Camacho(1996) proposed the design of a fixed structure sliding mode controller based on a first order plus dead time approximation to the higher-order process. But, there are such problems as overshoot, settling time and command following. They are mainly due to the approximation errors of the time delay term by Taylor series. In this paper, in order to improve Camcho's method, a new Taylor approximation technique considering a weight is proposed.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.9
• /
• pp.157-165
• /
• 2002

The design of hydraulic & control system has been developed for the disc spinning machine. The hydraulic system has been designed in the overall system including the vertical & horizontal slide fur spinning works which are controlled by hydraulic servo valves in right & left side, and the clamping slide for holding & pressing blank material in center during spinning process. Based on the design concept of this hydraulic system, model test experiments for hydraulic servo control system is tested to conform confidence and applying possibility. The control system is introduced with the fuzzy-sliding mode controller for the hydraulic force control reacting force as a disturbance, because a fuzzy controller does not require an accurate mathematical model for the generation of nonlinear factors in the actual nonlinear plant with unknown disturbances and a sliding controller has the robustness & stability in mathematical control algorithm. We conform that the fuzzy-sliding mode controller has a good performance in force control for the plant with a strong disturbance. Also, we observe that a steady state error of the fuzzy-sliding mode controller can be reduced better than those of an another controllers.