• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.289-292
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• 1997

In this paper, a continuous sliding mode controller for robot manipualator is proposed. The proposed scheme guarantees that the tracking error converges to zero maintaining the smoothness of the actual control signal. In order to estimate the acceleration data, a sliding mode observer is used, and the stability of the closed-loop system is shown.

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

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.348-348
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• 2000

In this paper, we present a fuzzy moving sliding mode control for two-degrree-of-freedom robotic manipulator. 17he sliding surface parameters are designed by fuzzy inference. The proposed sliding mode control makes the error always remain on the surface from beginning and therefore, the system is insensitive to system uncertaintics and external disturbances. Simulation results show the effectiveness of proposed scheme.

• Journal of Power Electronics
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• v.14 no.1
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• pp.105-114
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• 2014

The sliding mode control (SMC) strategy is applied to a permanent magnet synchronous machine vector control system in this study to improve system robustness amid parameter changes and disturbances. In view of the intrinsic chattering of SMC, a current sliding mode control method with a load sliding mode observer is proposed. In this method, a current sliding mode control law based on variable exponent reaching law is deduced to overcome the disadvantage of the regular exponent reaching law being incapable of approaching the origin. A load torque-sliding mode observer with an adaptive switching gain is introduced to observe load disturbance and increase the minimum switching gain with the increase in the range of load disturbance, which intensifies system chattering. The load disturbance observed value is then applied to the output side of the current sliding mode controller as feed-forward compensation. Simulation and experimental results show that the designed method enhances system robustness amid load disturbance and effectively alleviates system chattering.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.6
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• pp.143-157
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• 1994

This paper is concerned with the position control of electrohydraulic servo system under parameter variation. An adaptive sliding mode control which uses the direct parameter estimation scheme, is proposed to design a robust controller for fast and accurate control of the system. It is shown that the adaptive sliding mode control algorithm is robust and effective in attaining fast and accurate position control of system under time-dependent parameter variation. It is also shown experimentally that chattering phenomena in a sliding mode control can significantly be reduced by using boundary layer technique, and that new approach in sliding mode control introducing a term proportional to the distance between the current state and the sliding surface in the control law is effective to obtain fast response and to increase stability of the system. Computer simulation on the dynamic performance of the control system is also presented.

• Journal of information and communication convergence engineering
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• v.2 no.3
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• pp.198-201
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• 2004

In this paper, the discrete optimal control is made to have the robust property of Sliding mode controller. A augmented system with a virtual state is constructed for this objective and noble sliding surface is constructed based on this system. The sliding surface is the same as the optimal control trajectory in the original system. The states follow the optimal trajectory even if there exist uncertainties. The reaching phase problem of sliding mode control is disappear in this method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.168-172
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• 2009

We compare an integral sliding mode control with a typical sliding mode control for robot manipulators through two primitive tasks: set-point regulation and trajectory tracking control. To prove the asymptotic stability of two methods for robot manipulators, we introduce three important properties in the robot dynamics: skew-symmetry, positive-definiteness, and boundedness of robot parameter matrices and we present one unified control structure using a parametric velocity vector. From illustrative examples, we show that two methods effectively control for robot manipulators.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.355-355
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• 2000

The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a 개bot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.330-335
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• 1994

In this paper, adaprive control and sliding mode control are combined to implement the proposed adaptive sliding mode control(ASMC) algorithm which is new approach to the control of industrial robot manipulator with external disturbances and parameter uncertainties. Adaptive control algorithm is designed by using the principle of the model reference adaptive control method based upon the hyperstability theory. The contribution of this method is that the parameters of the sliding surface are replaced by time varying parameters whose are calculated by an adaptation algorithm, which forces the errors to follow the behavior of a reference error model. Simulation results show that the proposed method not only improves the performance of the system but also reduces the chattering problem of sliding mode control. Consequently, it is expected that the new adaptive sliding mode control algorithm will be suited for various practical applications.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.2
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• pp.89-96
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• 2002

A new chattering free PD-sliding mode hybrid control scheme is proposed for robot manipulators. This hybrid controller is composed of a PD controller and a semi-continuous sliding mode controller. It has a good robust performance in reaching mode which does not possess invariance property of sliding mode, and has chattering free characteristics in sliding mode. Thus, the PD-sliding mode hybrid controller has a good robust performance in the whole region. It is shown that the proposed control has a good transient response and trajectory tracking performance for a 2-link SCARA robot manipulator.