• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.66.5-66
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• 2001

A proposed fuzzy-sliding mode controller in this paper shows that it can reduce amount of chattering inherent to sliding mode control and it is robust against parameter uncertainties. Sliding mode control is one of the control method for nonlinear systems. It can provide good transient performance and system robustness for nonlinear system. But chattering is a serious problem of the sliding mode control. The chattering is caused by steady/state error or uncertainties of the system. There are three kinds of method that can remove chattering. First, steady-state error can be removed by adding PI controller to the system. Second, putting dead-zone in sliding surface can be insensitive uncertainties ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.62.2-62
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• 2002

1. Introduction 2. System description and preliminary results 3. SMC robust to mismatched uncertainties 4. Simulation results 5. Conclusions

• International Journal of Automotive Technology
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• 제6권3호
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• pp.235-242
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• 2005

This study introduces the Reliability-Based Design Optimization (RBDO) to enhance the kinematic and compliance (K & C) characteristics of automotive suspension system. In previous studies, the deterministic optimization has been performed to enhance the K & C characteristics. Unfortunately, uncertainties in the real world have not been considered in the deterministic optimization. In the design of suspension system, design variables with the uncertainties, such as the bushing stiffness, have a great influence on the variation of the suspension performances. There is a need to quantify these uncertainties and to apply the RBDO to obtain the design, satisfying the target reliability level. In this research, design variables including uncertainties are dealt as random variables and reliability of the suspension performances, which are related the K & C characteristics, are quantified and the RBDO is performed. The RBD-optimum is compared with the deterministic optimum to verify the enhancement in reliability. Thus, the reliability of the suspension performances is estimated and the RBD-optimum, satisfying the target reliability level, is determined.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1414-1417
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• 2003

In this paper, sliding mode controller for discrete-time nonlinear systems with uncertainties and disturbances are proposed. The concept of time-delay control (TDC) which consists of estimating the uncertain dynamics of the system through past observations of the system response is used. The proposed controller guarantees that the closed-loop system states are globally uniformly ultimately bounded (GUUB). It is also shown that the closed-loop system states are globally uniformly asymptotically stable (GUAS) if uncertainties are constant.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1989년도 가을 학술발표회 논문집
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• pp.7-14
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• 1989

This paper presents an expert system approach to solve preliminary bridge design problems. The system employs a forward chaining inference strategy to 1) choose the appropriate superstructure types and construction methods and 2) use the solutions chosen in 1) to determine a list of ranked alternatives. The basic information used in the selection is collected from various sources. Due to the uncertainties presented in the information collected, Fuzzy sets are used to handle these uncertainties in the system. Finally to approve this system some applications are made to select superstructure types and construction methods of them.

• 한국정밀공학회지
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• 제25권10호
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• pp.67-76
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• 2008

In this research, a simple technique for designing PID controller, which guarantees robust stability for two-mass systems with parameter uncertainties as well as rigid-body behavior and zero steady-state error,is described. As well, such a PID controller is designed to mate two important frequencies, at which the given system is excited, very close so that an appropriate reference profile generated by using command shaping techniques can cover those two frequencies. Root-locus analysis. which shows traces of closed-loop poles for the given system, is used to design this PID controller. Finally, feedforward controller is added to improve tracking performance of the closed-loop system. Simulation for a system with a flexible mode and parameter uncertainties is executed to prove the feasibility of this technique.

• 전기학회논문지
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• 제59권6호
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• pp.1173-1178
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• 2010

In this note, a systematic design of a new robust nonlinear integral variable structure controller based on state dependent nonlinear form is presented for the control of uncertain more affine nonlinear systems with mismatched uncertainties and matched disturbance. After an affine uncertain nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a new robust nonlinear integral variable structure controller is presented. To be linear in the closed loop resultant dynamics and remove the reaching phase problems, the linear integral sliding surface is suggested. A corresponding control input is proposed to satisfy the closed loop exponential stability and the existence condition of the sliding mode on the linear integral sliding surface, which will be investigated in Theorem 1. Through a design example and simulation studies, the usefulness of the proposed controller is verified.

• 전기학회논문지
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• 제60권9호
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• pp.1754-1760
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• 2011

In this paper, a systematic design of a robust nonlinear multivariable variable structure controller based on state dependent nonlinear form is presented for the control of MIMO uncertain affine nonlinear systems with mismatched uncertainties and matched disturbance. After a MIMO uncertain affine nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a robust nonlinear variable structure controller is presented. To be linear in the closed loop resultant dynamics, the linear sliding surface is applied. A corresponding diagonalized control input is proposed to satisfy the closed loop global exponential stability and the existence condition of the sliding mode on the linear sliding surface, which will be investigated in Theorem 1. Through a design example and simulation study, the usefulness of the proposed controller is verified.

• 전기학회논문지
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• 제59권5호
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• pp.945-949
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• 2010

In this paper, a systematic design of a new robust nonlinear variable structure controller based on state dependent nonlinear form is presented for the control of uncertain affine nonlinear systems with mismatched uncertainties and matched disturbance. After an affine uncertain nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a new robust nonlinear variable structure controller is presented. To be linear in the closed loop resultant dynamics, the linear sliding surface is applied. A corresponding control input is proposed to satisfy the closed loop exponential stability and the existence condition of the sliding mode on the linear sliding surface, which will be investigated in Theorem 1. Through a design example and simulation study, the usefulness of the proposed controller is verified.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2006년도 추계학술대회 특별세미나 특별세션
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• pp.171-180
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• 2006

The EMS system requires a very delicate suspension control to maintain constant air-gap between the magnet and the guide-way rail. To maintain a constant air-gap with attraction force, the EMS system dynamics is changed according to uncertainties and disturbances, and it also requires reliability against component failures. Since uncertainties and component failures are frequently caused in EMS system, it is very important to develop the robust and reliable control system. In this paper, we consider the design problem for robust and reliable controller in the presence of uncertainties and component failures.