• 대한전기학회논문지
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• 제40권7호
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• pp.706-717
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• 1991

In order to remove the assumption of full state availability which is one of the major difficulties with the practical realization of variable structure control systems,a new switching function with a dynamic structure is proposed. And the control performances of the output feedback variable structure control systems with the dynamic switching function are evaluated through simulation studies. The proposed dynamic switching function is driven by small number of measured output and input variables while conventional static switching function requires full state information. Therefore, the proposition of the dynamic swiching function makes practical implementation of output feedback variable structure control scheme possible for the systems with unmeasurable state variables, high order systems and large scale systems that the conventional variable structure control schemes with static switching function cannot be applied. In the variable structure control systems with the dynamic switching function, desired control performance can be guaranteed by proper choice of design parameters such as poles of switching function dynamic equation and switching control gains even though small number of measured output and input variables are provided as shown in simulation resuls.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.72-75
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• 1988

Due to the fact that the set point regulation scheme by the variable structure control method concerns only the initial and final locations of a manipulator, many constraints may exist in the application of path tracking with obstracle avoidance. The variable structure parameter should be selected in the trajectory planning step by satisfying the constraints of the travel time and the path deviations This paper presents the selection algorithm of the variable structure parameters with the constraints of the system dynamics and the travel time and the path deviation. This study makes unify the trajectory planning and tracking control using the variable structure control method.

• 제어로봇시스템학회논문지
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• 제6권12호
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• pp.1053-1060
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• 2000

In this paper, a discrete-time variable structure control method using recursively defined switching function and a decoupled variable structure disturbance compensator is used to achieve high performance circular motion control of a CNC machining center. The discrete-time variable structure control with the decoupled disturbance compensator method developed in this paper uses a recursive switching function defined as the sum of the current tracking error vector and the previous value of the switching function multiplied by a positive constant less than one. This recursive switching function provides much improved performance compared to the method that uses a switching function defined only as a linear combination of the current tracking error. Enhancements in tracking performance are demonstrated in the circular motion control using a CNC milling machine.

• 정보처리학회논문지A
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• 제8A권1호
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• pp.56-62
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• 2001

This paper presents a neural network based variable structure control scheme for nonlinear systems. In this scheme, a set of local variable structure control laws are designed on the basis of the linear models about preselected representative points which cover the range of the system operation of interest. From the combination of the set of local variable structure control laws, neural networks infer the approximate control input in between the operating points. The neural network based variable structure control alleviates the effects of model uncertainties, which cannot be compensated by the control techniques using feedback linearization. It also relaxes the discontinuity in the system’s behavior that appears when the control schemes based on the family of the linear models are applied to nonlinear systems. Simulation results of a ball and beam system, to which feedback linearization cannot be applied, demonstrate the feasibility of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.652-655
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• 1996

This paper develops an AC motor controller for applications. The AC motor controller is designed based on the variable structure control method and a variable structure disturbance observer is added to reduce the effects of exogenous disturbances. The designed controller is installed on the z-axis of a CNC machining center and milling experiments were performed. The results show improved performance on both position and speed tracking, when compared to the factory-designed servo controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.179-184
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• 1991

This paper will describe the application for variable structure control theory to the first order dynamic system and verify it's robustness. The study on the first order dynamic system control which has been essential part for the control of servo motor (AC, DC) systems has been excluded in the study of variable structure control system(VSCS) because this first order system was not applicable to the previous variable structure control theory. So, for the robustness control of first order dynamic system with variable structure control theory, we propose modified switching function synthesis which guarantees the advantages of conventional VSCS and removes reaching phase which regards as shortcomings in VSCS. And we demonstrate the practical potential of implementation about this theory by simulation results of AC motor variable speed control.

• 대한전기학회논문지
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• 제41권4호
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• pp.392-399
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• 1992

This paper will describe the application of variable structure control theory to the first order dynamic system and verify its robustness. The study on the first order dynamic system control which has been essential part for the control of servo motor (AC,DC) systems has been excluded in the study of variable structure control system(VSCS) because this first order system was not applicable to the previous variable structure control theory. So, for the robustness control of first order dynamic system with variable structure control theory, we propose modified switching function synthesis which guarantees the advantages of conventional VSCS and removes reaching phase which is regarded as shortcomings in VSCS. And we demonstrate the practical potential of implementation about this theory by simulation results of AC motor variable speed control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.354-359
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• 2003

In this paper, we consider the problem of designing a simple learning variable structure system for repeatable tracking control of robot manipulators. We combine a variable structure control law as the robust part for stabilization and a feedforward learning law as the intelligent part for nonlinearity compensation. We show that the tracking error asymptotically converges to zero. Finally, we give computer simulation results in order to show the effectiveness of our method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1504-1508
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• 1996

In this paper, we derive dynamic equation of helicopter and design controller based on variable structure system. It is difficult to control helicopter because it has non-linear coupling between input and output of system and is MIMO system. The design of control law is considered here using variable structure methodology giving the robustness to parameter variations and invariance to some subsets of external disturbance. However we derive dynamic equations of helicopter and design stabilizing variable structure controller. Also, simulation results are given in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.643-647
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• 1990

Gunner primary sight(GPS) stabilization system lays line of sight(LOS) to find out a target and transmits informations to the fire control system (FCS). In a moving vehicle, accuracy of LOS and FCS depends on the design of GPS and servomechanism system. The heavy vibration of vehicle on the severe off-road environment degenerates the stabilization capability of GPS. In this study, to stabilize of elevation for GPS using the variable structure control, we derived the dynamic equation of GPS system and designed the variable structure controller. Computer simulation results fulfilled the static and dynamic stability of GPS using the variable structure control.