• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.442-445
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• 1991

In the physical system, if we can precisely control an acceleration and force, we can improve the performance of their integral values, velocity and position. From this point of view, in this paper we try to use an obverser which is constructed by using Variable Structure System for estimating the acceleration in the system with the bounded unknown disturbance and the parameter mismatching. To obtain the robust control performance, the VSS with sliding mode is adopted in the design of the servo controller.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1-6
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• 1989

For the design of synergistic hydraulic motion simulator, the load locus method is introduced. The given mass property of load and its velocity profile is resolved into the load locus of each actuator which decides the suitable valve and cylinder. This asymmtic cylinder and 4 way valve system have the pressure oscillation on zero velocity. The variable structure position controller which based on linearized flow equation makes elimination of the unstable pressure oscillation.

• Proceedings of the IEEK Conference
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• 1999.11a
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• pp.703-706
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• 1999

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagragian assumed modes method based on Bernoulli-Euler beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoptation of a continuous control law within a small neighborhood of the switching hyperplane.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.308-312
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• 1990

In this paper, we propose a simple method to control the servo system with sliding mode in the parameter variation and disturbances. We show the comparison between the conventional sliding line and the new sliding line and the proposed sliding mode control. The performance of the fast response and no overshoot by using the proposed sliding line is obtained.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 1998.03a
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• pp.313-319
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• 1998

본 논문에서는 슬라이딩모드 제어이득을 실시간으로 계산하여 적응시키는 적응 가변구조제어기 설계방법을 제시한다. 제시된 방법은 간단한 계산으로 슬라이딩모드제어의 조건을 만족시키도록 제이이득을 변화시키므로 채터링을 감소시키고 추적오차성능을 개선시킨다. 계산시간이 적어 실시간 제어에 적용이 쉬운 장점이 있다. 제시된 제어방법을 기존의 방법과 비교하여 설계의 예를 보였고 시뮬레이션을 통하여 제시된 방법의 유용성을 보였다.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.78-83
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• 2002

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fully-actuated ones. However the control of an underactuated manipulator is much more difficult than that of fully- actuated robot manipulator. In this paper a complex dynamic model of a manipulator with passive joints is manipulated for sliding mode control. Sliding mode controllers are designed for this complex system and the stability of the controllers is proved mathematically. Finally a simulation for this control system is executed for evaluating the effectiveness of the designed sliding mode controller.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.507-509
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• 1996

This paper is concerned with a position, control of induction motors using binary control. Due to the robustness and fast response, variable structure control is widely used for motor control field. However, the chattering phenomenon which is a drawback of VSC deteriorates the control performance and damages system components. In this paper, using binary control which has the characteristics of chattering alleviation and robust property solves this problem. The principle of binary control with inertial external loop and the design method of binary position controller are described. Also the control performance of proposed controller is confirmed by experiments.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.550-555
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• 2002

In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller or the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.5
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• pp.1178-1183
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• 2008

The variable structure control(VSC) with sliding mode is an important and interesting topic in modern control of nonlinear systems. However, the discontinuous control law in VSC leads to undesirable chattering in practice. As a method solving this problem, in this paper, we propose a scheme of the VSC with neural network sliding surface. A neural network sliding surface with boundary layer is employed to solve discontinuous control law. The proposed controller can eliminate the chattering problem of the conventional VSC. The effectiveness of the proposed control scheme is verified by simulation results.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.983-994
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• 1989

This paper presents a new variable structure model following control algorithm for control of manipulators. The reference model is a simple double integrators and the acceleration input for the robot manipulator consists of a proportional and derivative controller for the purpose of trajectory tracking. The control algorithm is derived by using Lyapunov stability theory instead of S.S < O, as is usual in the current VSS controller design. This proposed control algorithm does not require good knowledge of the parameter in the inertia matrix and is easily extendable to robot manipulators with a higher number of links. Also, the new algorithm is computationally fast because of not requiring the matrix inversion. The computer simulation was carried out to evaluate the performance of the proposed VSMFC.