• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.38.4-38
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• 2001

In this paper, a novel model following sliding mode control is proposed by using a novel sliding mode with virtual state. This sliding surface has nominal dynamics of an original system and makes it possible that the Sliding Mode Control(SMC) technique is combined with the optimal controller. Its design is based on the argument system whose dynamics have one higher order than that of the original system. The reaching phase is eliminated by using an initial virtual state that makes the initial sliding function equal to zero.

• 한국정밀공학회지
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• 제11권6호
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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.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.148-153
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• 1999

In this paper, it is proposed the adaptive-sliding mode control technique which is new approach to implement the robust control of industrial robot manipulator with external disturbances and parameter uncertainties. Over the past decade, the design of advanced control systems for industrial robotic manipulators has been a very active area of research and two major design categories have emerged. Sliding mode control is a well-known technique for robust control of uncertain nonlinear systems. The robustness of sliding model controllers can be shown in continuous time, but digital implementation may not preserve robustness properties because the sampling process limits the existence of a true sliding mode. Adaptive control algorithm is designed by using the principle of the model reference adaptive control method based upon the hyperstability theory. The proposed control scheme has a simple structure is computationally fast and does not require knowledge of the complex dynamic model or the parameter values of the manipulator or the payload. Simulation results how 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 of industrial robot control system.

• Smart Structures and Systems
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• 제5권3호
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• pp.261-277
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• 2009

A fuzzy-sliding mode controller is presented to control the dynamics of semi-active suspension systems of vehicles using magneto-rheological (MR) fluid dampers. A full car model is used to design and evaluate the performance of the proposed semi-active controlled suspension system. Four mixed mode MR dampers are designed, manufactured, and integrated with four independent sliding mode controllers. The siding mode controller is designed to decrease the energy consumption and maintain robustness. In order to overcome the chattering of the sliding mode controllers, a fuzzy logic control strategy is merged into the sliding mode controller. The proposed fuzzy-sliding mode controller is designed and fabricated. The performance of the semi-active suspensions is evaluated in both the time and frequency domains. The obtained results demonstrate that the proposed fuzzy-sliding mode controller can effectively suppress the vibration of vehicles and improve their ride comfort and handling stability. Furthermore, it is shown that the "chattering" of the sliding mode controller is smoothed when it is integrated with a fuzzy logic control strategy. Although the cost function of the fuzzy-sliding mode control is a slightly higher than that of a classical LQR controller, the control effectiveness and robustness are enhanced considerably.

• Journal of Power Electronics
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• 제9권1호
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• pp.117-123
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• 2009

This paper presents a sliding mode observer for the sensorless control of interior permanent magnet synchronous motor (IPMSM) drives. The sliding mode observer has been presented as a robust estimation method. Most of these previous works, however, were not for an interior PMSM (IPMSM), but for a non-salient pole PMSM and its observer design is conducted in the stationary reference frame. Thus, in this paper, we investigate the design of a sliding mode observer and its driving characteristics for an IPMSM. The proposed sliding mode observer is designed in the rotating reference frame, and good drive performance is achieved even when the observer parameters are mismatched with those of an actual motor. The proposed method is applied to a 600W IPMSM, and, then, the measurement results are presented.

• Journal of Advanced Marine Engineering and Technology
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• 제30권2호
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• pp.239-246
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• 2006

This paper describes the scheme of sliding mode control (SMC) to adopt the conventional slip frequency vector drives. The purpose of sliding mode control is to achieve an accurate, robustness of response for ac servomotor speed control. A sliding mode control design method is proposed for a speed control of an induction servomotor. The control law is composed of the variable structure component and the suppressed coefficients to suppress load disturbance and variation of external parameters. The proposed control scheme is simulated by the computer which is installed in an ideal ac servomotor. The simulation results show that the proposed design method has robustness and accuracy in the speed response by adjusting the suppressed coefficients for load disturbance and the motor mechanical parameter variation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.341-341
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• 2000

This paper presents a sliding mode control(SMC) design method for single input linear systems with uncertainties and time delay in the state. We define a sliding surface for the augmented system with a virtual state which is defined from the nominal system. We make a virtual state from optimal control input using LOR(Linear Quadratic Regulator) and the states of the nominal system. We construct a controller that combines SMC with optimal controller. The proposed sliding mode controller stabilizes on the overall closed-loop system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2290-2292
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• 2000

Robustness characteristics to the modelling imprecision and some disturbances could be achieved in sliding mode control. However, there are drawbacks such as discontinuous control and chattering. Recently, many researches have been developing to solve such the problems. In sliding mode control, overall control input could be divided into two parts which are equivalent control input and sliding mode control input. Sliding mode control input is a function of the switching surfaces and can be designed with their linear combinations. In this paper, the sliding mode control input is designed by TSK fuzzy model. The proposed method gives the continuous sliding control input and reject the chattering phenomenon.

• 제어로봇시스템학회논문지
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• 제7권4호
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• pp.351-361
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• 2001

In this paper, a generalized framework called as robust internal-loop compensator(RIC) is presented, and by using this, a structural design method of sliding of sliding mode controller is proposed. First, a general sliding mode controller is derived and a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, RIC is proposed. Next, using the structural characteristics of the proposed RIC, disturbance attenuation characteristics are analyzed and the performance of the closed-loop system is predicted. Through this analysis, it is shown that if the control gain of RIC is increased by N times, the magnitude of error is reduced to its 1/N. the proposed method is verified through experiments using a high-precision positioning system and the performance is evaluated.

• Journal of Electrical Engineering and Technology
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• 제7권1호
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• pp.34-45
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• 2012

In the present paper, the mover speed control of a linear induction motor (LIM) using a sliding mode control design is proposed, considering the end effects. First, the indirect field-oriented control LIM is derived, considering the end effects. The sliding mode control design is then investigated to achieve speed- and flux-tracking under load thrust force disturbance. The numerical simulation results of the proposed scheme present good performances in comparison to that of the classical sliding mode control.