• 대한기계학회논문집
• /
• 제18권8호
• /
• pp.1985-1996
• /
• 1994

A new design method of sliding hyperplanes is proposed in the synthesis of a variable structure controller for robust tracking of general nonlinear multi-input-output(MIMO) uncertain systems of relative degree higher than two. Input/ output(I/O) linearzation is firstly undertaken by employing the concept of relative degree and minimum phase followed by the construction of sliding mode controllers. Sliding hyperplanes are then derived from the inherent properties of companion matrix and ideal sliding mode characterized in I/O linearized system. Subsequently, the gradient magnitudes of the sling hyperplanes are determined in an optimal manner by considering a quadratic performance index to be evaluated at two phases; a reaching phase and a sliding phase. The proposed design methodology is relatively straightforward and systematic compared with conventional strategies such as geometric approach or pole assignment technique. A nonlinear governor and exciter control problem for a power system is adopted herein in order to demonstrate the design efficiency and also favorable and robust control performances.

• 전력전자학회논문지
• /
• 제12권4호
• /
• pp.324-331
• /
• 2007

본 연구에서는 슬라이딩 모드 관측기를 사용한 리튬 배터리의 충전량 예측방법에 대해서 논의한다. 배터리의 비선형 회로 모델링 기법이 소개되고 슬라이딩 모드 관측기를 사용한 충전량 예측기의 설계 방법이 논의된다. 기존의 복잡한 배터리 모델링 방법 대신, 단순화된 저항-커패시터 모델링 방법이 본 연구에서 사용되었다. 단순화된 모델에 의해 발생되는 오차나 불확실성은 슬라이딩 모드 관측기에 의해 보상되었다. 슬라이딩 모드 관측기의 구조는 단순하지만, 모델링 에러나 외란에 대해서 강인한 특성을 보여준다. 제안된 제어기의 수렴성은 등가제어 방법에 의해서 증명되었다. 제안된 시스템의 성능은 UDDS (Urban Dynamometer Driving Schedule) 시험에 의해서 증명되었다. 시험 결과 제안된 시스템은 실제 주행 환경에서도 우수한 추적 성능을 보여주었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2319-2324
• /
• 2005

This paper proposes a intelligent gain and boundary layer based sliding mode control (SMC) method for robotic systems with unknown model uncertainties. For intelligent gain and boundary layer, we employ the self recurrent wavelet neural network (SRWNN) which has the properties such as a simple structure and fast convergence. In our control structure, the SRWNNs are used for estimating the width of boundary layer, uncertainty bound, and nonlinear terms of robotic systems. The adaptation laws for all parameters of SRWNNs and reconstruction error bounds are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with unknown uncertainties. Accordingly, the proposed method can overcome the chattering phenomena in the control effort and has the robustness regardless of unknown uncertainties. Finally, simulation results for the three-link manipulator, one of the robotic systems, are included to illustrate the effectiveness of the proposed method.

• 전자공학회논문지SC
• /
• 제47권6호
• /
• pp.58-63
• /
• 2010

본 논문에서는 롤투롤 프린팅 공정을 위한 분산 처리 장력 관측 방법을 제안한다. 제안된 분산 처리 장력 관측기는 최소 차수 관측기 이론을 이용하여 설계된다. 제안된 방법은 인접 공정 영역의 속도와 장력 정보를 바탕으로 해당 공정 영역의 장력을 관측하는 특성을 가지고 있어 분산 제어 구조에 사용이 가능하다. 또한 제안된 방법은 슬라이딩 모드를 채용하여 모델 변동에 대해서도 효과적인 추정 성능을 갖는다.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제50권8호
• /
• pp.367-375
• /
• 2001

In Underwater Flight Vehicle depth control system, the followings must be required. First, it needs robust performance which can get over modeling error, parameter variation and disturbance. Second, it needs accurate performance which have small overshoot phenomenon and steady state error to avoid colliding with ground surface or obstacles. Third, it needs continuous control input to reduce the acoustic noise and propulsion energy consumption. Finally, it needs interpolation method which can sole the speed dependency problem of controller parameters. To solve these problems, we propose a depth control method using Fuzzy Sliding Mode Controller with feedforward control-plane bias term and Neural Network Interpolator. Simulation results show the proposed method has robust and accurate control performance by the continuous control input and has no speed dependency problem.

• 한국정밀공학회지
• /
• 제13권6호
• /
• pp.136-144
• /
• 1996

We developed a part of stroke sensing cylinder for position control of automatic excavator and its measurement system. In this paper, for development of stroke sensing cylinder, we consist of 2-axis control instrument system with Hall sensor. A performance of piston rod with magnetic scales is evaluated by the developed measurement system. Furthermore, the position control for good performance of instrument system is achieved by a sliding mode control which is a new method diminishing the chattering in that control by setting 2-dead band along the swtching line. The unknown parameters for sliding mode control are estimated by the signal compression method.

• 로봇학회논문지
• /
• 제13권4호
• /
• pp.256-264
• /
• 2018

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.

• 전기학회논문지
• /
• 제66권12호
• /
• pp.1759-1771
• /
• 2017

In this paper, an improved continuous integral variable structure systems(ICIVSS) with the prescribed control performance is designed for simple regulation controls of uncertain general linear systems. An integral sliding surface with an integral state having a special initial condition is adopted for removing the reaching phase and predetermining the ideal sliding trajectory from a given initial state to the origin in the state space. The ideal sliding dynamics of the integral sliding surface is analytically obtained and the solution of the ideal sliding dynamics can predetermine the ideal sliding trajectory(integral sliding surface) from the given initial state to the origin. Provided that the value of the integral sliding surface is bounded by certain value by means of the continuous input, the norm of the state error to the ideal sliding trajectory is analyzed and obtained in Theorem 1. A corresponding discontinuous control input with the exponential stability is proposed to generate the perfect sliding mode on the every point of the pre-selected sliding surface. For practical applications, the discontinuity of the VSS control input is approximated to be continuous based on the proposed modified fixed boundary layer method. The bounded stability by the continuous input is investigated in Theorem 3. With combining the results of Theorem 1 and Theorem 3, as the prescribed control performance, the pre specification on the error to the ideal sliding trajectory is possible by means of the boundary layer continuous input with the integral sliding surface. The suggested algorithm with the continuous input can provide the effective method to increase the control accuracy within the boundary layer by means of the increase of the $G_1$ gain. Through an illustrative design example and simulation study, the usefulness of the main results is verified.

• Journal of Advanced Marine Engineering and Technology
• /
• 제38권4호
• /
• pp.424-429
• /
• 2014

본 논문에서는 슬라이딩 모드제어와 유전알고리즘(GA)을 결합하여 Pehlivan 카오스 시스템의 동기화 문제에 대해 다룬다. 이를 위해 우선 Pehlivan 카오스 시스템의 특징에 대해 간단히 살펴본다. 다음으로 보편적으로 사용되는 기존의 슬라이딩 모드 제어 기법을 설명하고, 본 논문에서 제안하는 GA를 이용한 설계방법을 제안한다. 본 논문에서 제안하는 방법은 기존의 슬라이딩 모드 제어 기법에서 사용자가 선정해야 하는 파라미터(슬라이딩 평면 및 제어 이득)를 GA를 통해 탐색하는 방법이다. 이때 사용하는 GA는 MATLAB Toolbox에서 제공하는 것을 사용하였으며 컴퓨터 시뮬레이션을 통해 제안한 기법의 유효성을 살펴본다.

• 전기학회논문지
• /
• 제59권8호
• /
• pp.1444-1448
• /
• 2010

The ball and beam system is one of the most popular models for studying control systems because of its nonlinearity and several control techniques have been proposed. Sliding mode control is a popular robust control method which rejects the external disturbance. In this paper, we propose a robust controller using the ${\epsilon}$-sliding surface. On the ${\epsilon}$-sliding surface, the system robustness and convergence can be manipulated via a use of ${\epsilon}$. We show the stability analysis and convergence analysis on the ${\epsilon}$-sliding surface. In addition, the experimental results show the validity of the proposed controller.