• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.6
• /
• pp.1203-1211
• /
• 2017

This paper proposes a robust controller for flexible joint robots to achieve tracking performance and to improve robustness against both matched and mismatched disturbances. The proposed controller consists of a disturbance observer(DOB), passivity-based controller, and integral sliding mode controller(ISMC) in a backstepping manner. The DOB compensates the mismatched disturbance in the link-side and formulates the reference input for the motor-side controller. Interconnection and damping assignment passivity-based controller (IDA-PBC) performs tracking control of motor-side, and it is integrated to nominal control of ISMC to guarantee the over-all stability of the nominal system, while, matched disturbances are decoupled by the discontinuous control of ISMC. In the design of the link-side controller, PD type impedance controller is designed with DOB and this leads the continuous control input which is suitable to the reference input for the motor-side.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.1
• /
• pp.173-179
• /
• 2017

This paper proposes a robust impedance controller for high-DOF robots. The model-based control of a higher DOF robot uses a numerical dynamic model because the analytical dynamic model is difficult to be derived and this means that modeling error is inevitable. The impedance control in the task space is affected by joint motions and has more difficulties in the higher DOF robots. In addition, the disturbances must be decoupled in the control of high DOF robot. This paper proposes a robust impedance controller based on integral sliding mode control (ISMC) and disturbance observer(DOB) for high-DOF robot manipulator. The ISMC is used to improve the robustness of the impedance control and to preserve its nominal performance. DOB is also employed to cancel the effects of input disturbances and to reduce the maximum gain of the ISMC which eventually determines the input chattering size.

• Journal of Electrical Engineering and information Science
• /
• v.3 no.1
• /
• pp.58-66
• /
• 1998

A continuous, accurate, and robust variable structure tracking controller(CVSTC) is designed for brushless direct drive servo motors(BLDDSM). Although conventional variable structure controls can give the desired tracking performances, there exists an inevitable chattering problems in control input which is undesirable for direct drive systems. With the presented algorithm, not only the chattering problems are removed by using the efficient compensation of the disturbance observer, but also the prescribed tracking trajectory can be obtained using the sliding dynamics when an initial of the desired trajcetory is different from that of a BLDDSM. The design of the sliding mode tracking controller for the prescribed, accurate, and robust tracking performance without the chattering problem is given based on the results of the detailed stability analysis. The usefulness of the suggested algorithm is demonstrated through the computer simulation for a BLDDSM under load variations.

• Journal of Electrical Engineering and Technology
• /
• v.9 no.1
• /
• pp.214-230
• /
• 2014

This paper presents a high performance sensor less control four motorized wheels for electric vehicle. Firstly, we applied a sensor less master-slave DTC based control to both the two in wheel motors by using sliding mode observer for its quick response and its high reliability in electric vehicle application. Secondly, to overcome the possible loss of adherence of one of the four wheels which is likely to destabilize the vehicle a solution is proposed in this paper. Thirdly, a Fuzzy logic anti-skid control structure well adapted to the non-linear system is used to overcome the main problem of power train system in the wheel road adhesion characteristic. Various Simulation results have been include in this paper to show that the proposed control strategy can prevent vehicle sliding and show good vehicle stability on a curved path.

• Journal of the Korean Society for Precision Engineering
• /
• v.23 no.7 s.184
• /
• pp.168-176
• /
• 2006

Nowadays, Three dimensional printing (3DP) technique that is one of solid freeform fabrication (SFF) technology has been notable issue, and has been applied by various fields. The SFF system can fabricate three dimensional objects of solid freeform with high speed and low cost using ink jet printing technology. In this research, a SFF system to analyze 3DP process technology is developed. We applied sliding mode control with sliding perturbation observer (SMCSPO) algorithm and minimized position error to the developed SFF system. We analyzed and optimized process variables such as jetted volume, layer thickness, powder bed and so on experimentally. Also. the dimensional error of a developed SFF system is evaluated. Finally, the feasibility of application to bio manufacturing is presented through successful fabrication of teeth and cranium model.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.5
• /
• pp.320-325
• /
• 2016

This paper presents a robust finite-time sliding mode control (SMC) scheme for unknown disturbance and unmodeled nonlinear friction and dynamics in the robotic manipulator. A finite-time SMC (FSMC) surface and finite-time sliding mode controller are constructed to obtain faster error convergence than the conventional infinite-time based SMC. By adding prescribed constraint control term to a finite-time SMC to compensate for unknown disturbance and uncertainties, a robust control scheme can be designed as well as faster convergence control. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.15 no.3 s.96
• /
• pp.290-296
• /
• 2005

This paper proposes the modeling scheme of the Miniature Universal Testing Machine (MUTM) composed of 36 thin-beam-type bimorph PZTs and the control algorithm to minimize the residual vibration of the MUTM in the dynamic testing of specimens. In the operation of the MUTM, hysteresis, residual displacement and vibration of it are major issues. From the analysis of the MUTM behaviors, the hysteresis is described by the curving fitting scheme with the function of an input voltage. The dynamic characteristics of the MUTM are identified by the frequency domain modeling technique based on the experimental data. The interested bandwidth is focused on 125-315HZ for effective modeling and control. For the robust vibration control of the MUTM, the sliding mode control and the Kalman filter as observer are proposed. The paper also proposes the best input signal type to operate the MUTM effectively. The feasibility of the proposed modeling scheme and control algorithm are tested and verified experimentally.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2004.11a
• /
• pp.476-481
• /
• 2004

This paper proposes the modeling scheme of the Miniature Universal Testing Machine (MUTM) composed of 36 thin-beam-type bimorph PZTs and the control algorithm to minimize the residual vibration of the MUTM in the dynamic testing of specimens. In the operation of the MUTM, hysteresis, residual displacement and vibration of it are major issues. From the analysis of the MUTM behaviors, the hysteresis is described by the curving fitting scheme with the function of an input voltage. The dynamic characteristics of the MUTM are identified by the frequency domain modeling technique base on the experimental data. The interest bandwidth is focused on 125-315HZ for effective modeling and control. For the robust vibration control of the MUTM, the sliding mode control and the Kalman filter as observer are proposed. The paper also proposes the best input signal type to operate the MUTM effectively. The feasibility of the proposed modeling scheme and control algorithm are tested and verified experimentally.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.1
• /
• pp.174-184
• /
• 1997

This paper presents a robust force tracking control of a smart flexible gripper featured by a piezoceramic actuator characterizing its durability and quick response time. A mathematical governing equation for the proposed gripper structure is derived by employing Hamilton's principle and a state space control model is subsequently obtained through model analysis. Uncertain system parameters such as frequency variation are included in the control model. A sliding mode control theory which has inherent robustness to the sys- tem uncertainties is adopted to design a force tracking controller for the piezoceramic actuator. Using out- put information from the tip force sensor, a full-order observer is constructed to estimate state variables of the system. Force tracking performances for desired trajectories represented by sinusoidal and step func- tions are evaluated by undertaking both simulation and experimental works. In addition, in order to illustrate practical feasibility of the proposed method, a two-fingered gripper is constructed and its performance is demonstrated by showing a capability of holding an object.

• Journal of the Institute of Convergence Signal Processing
• /
• v.8 no.2
• /
• pp.119-123
• /
• 2007

This paper investigates a speed sensorless control of induction motor. The control strategy is based on MRAS(Model Reference Adaptive System) using load-torque observer as a reference model for flux estimation. The speed response of conventional MRAS controller characteristics is affected by variations of load torque disturbance. In the proposed system, the speed control characteristics using a load-torque observer control isn't affected by a load torque disturbance. Control algorithm that propose whole system through MATLAB SIMULINK because do modelling simulation result are presented to prove the effectiveness of the adaptive sliding mode controller for the drive variable load of induction motor. Therefore we hope to be extended in industrial application.