• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.295-301
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• 2012

This paper deals with the design of robust DSMC (Discrete-Time Sliding Mode Control) scheme in order to overcome system uncertainty in steering system with mechanically joined structure. The proposed control scheme is one of robust control schemes based on system dynamics. Therefore, system dynamics required is not obtained from physical law but SCM (Signal Compression Method) through experiment in order to avoid complicate mathematical development and save time. However, SCM has a shortcoming that is the limitation of with $2^{nd}$ order linear model which does not include the dynamic of high-frequency band. Thus, considering system uncertainty, DSMC is designed. In addition, to reduce the chattering problem of DSMC, DSMC is derived from the reaching law and the Lyapunov stability condition. It is found that the proposed control scheme has robustness in spite of the perturbation of system uncertainty through computer simulation.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.76-83
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• 1996

We have developed the unconventional robot arm which is composed of the two main parts, one is a ball screw and the other is a robot arm. The dynamic systems of the robot arm and ball screw are unstable systems coupled with each other. The ball screw mechanism is unstable system but controllable system. The robot arm's dynamics is quasi stable system when ball screw's angular position is zero, else, unstable system. Our system has the duality between stability and controllability at the view point of control. This duality causes difficulty to control of the robot arm using normal control law. We have investigated the location of the characteristic roots of the dynamic equation. And we have found out that the best condition for the control of the arm is quasi stable state. In this paper, we have proposed multiple control laws which are consist of three components to guarantee the stability and controllability simultaneously. The computer simulations were carried out based on VSC about the angular position control of the robot arm, and it is confirmed that the good performances could be obtained by using new controller.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.9
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• pp.658-663
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• 2003

In deterministic design of feedback controllers for uncertain dynamic systems, the upper bound of the uncertainty is very important to guarantee the stability of the closed loop system. In this paper, we assume that the upper bound of the uncertainty is formulated using a Fredholm integral equation of the first kind, that is, an integral of the product of a predefined kernel with an unknown influence function. We propose an adaptation law that is capable of estimating this upper bound. Using this adaptive upper bound, we design an adaptive variable structure control (AVSC), which guarantees asymptotic stability/ultimate boundedness of uncertain dynamic systems. The illustrative example shows the proposed AVSC is effective for uncertain dynamic systems.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.9
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• pp.1821-1826
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• 2009

An adaptive neural controller for perturbed strict-feedback nonlinear system is proposed. All the previous adaptive neural (or fuzzy) controllers are based on the backstepping scheme where the universal approximators are employed in every design steps. These schemes involve virtual controls and their time derivatives that make the stability analysis and implementation of the controller very complex. This fact is called 'explosion of complexty ' since the complexity grows exponentially as the system dynamic order increases. The proposed adaptive neural control scheme adopt the backstepping design procedure only for determining ideal control law and employ only one neural network to approximate the finally selected ideal controller, which makes the controller design procedure and stability analysis considerably simple compared to the previously proposed controllers. It is shown that all the time-varing signals containing tracking error are stable in the Lyapunov viewpoint.

• Smart Structures and Systems
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• v.10 no.6
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• pp.573-591
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• 2012

In this study, a procedure to design an optimal LCVA that maximizes the equivalent damping ratio added to the primary structure subjected to along-wind excitation is proposed. That design procedure does not only consider the natural frequency and damping ratio of the LCVA, but also the proportion of the U-shaped liquid, which is closely related to the participation ratio of the liquid mass in inertial force. In addition, constraints to ensure the U-shape of the liquid are considered in the design process, so that suboptimal solutions that violate the optimal tuning law partly are adopted as a candidate of the optimal LCVA. The proposed design procedure of the LCVA is applied to the control of the 76-story benchmark building, and the optimal proportions of the liquid shape under various design conditions are compared.

• Journal of Power Electronics
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• v.10 no.1
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• pp.1-8
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• 2010

A new scheme for sliding-mode control (SMC) of DC-DC converters with a constant switching frequency is proposed. The scheme is based on the averaging model and the output signal of the controller is $d^+$ or $d^-$ instead of the on or off signal of a direct sliding-mode (SM) controller or the continuous signal d = $u_{eq}$ of an indirect SM controller. Two approaches using the new scheme are also proposed and the design procedures for a buck converter are given in detail. The first approach called constant $d^+$ and $d^-$ SMC is simple, cost effective and dynamically fast. In order to improve the dynamic characteristics of the reaching phase and to alleviate chattering, the second approach called reaching law SMC is also presented. Analyses and simulation results demonstrate the feasibility of the proposed scheme.

• International Journal of Aeronautical and Space Sciences
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• v.9 no.1
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• pp.31-41
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• 2008

This paper deals with the energy saving problem of the follower aircraft in the loose leader-follower formation geometry in which the lateral separation between formation members is more than a wingspan of the leader aircraft. This formation geometry offers no drag benefit, but has a strategic advantage. In the case of loose formation flight, the follower aircraft usually consumes more energy than the leader aircraft because the follower aircraft should use more thrust to maintain given formation geometry, especially during the turning phase from the outside of the leader"s flight path or join-up phase. A formation control scheme based on the energy maneuverability is proposed in this paper. To design the proposed control law, the velocity command is designed using feedback linearization for the horizontal formation geometry and then coverts it to the altitude command using the energy equation. Numerical simulation is performed to verify the effectiveness of the proposed controller.

• International Journal of Aeronautical and Space Sciences
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• v.10 no.2
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• pp.12-22
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• 2009

This paper deals with the State-Dependent Riccati Equation (SDRE) Technique for the design of rotorcraft waypoint guidance. To generate the flight trajectory through multiple waypoints, we use the trigonometric spline. The controller design and its validation is based upon a level 2 simulation rotorcraft model and the designed SDRE controller is applied to the trajectory tracking problems. To verify the designed guidance law, the simulation environment of high fidelity rotorcraft model is developed using three independent PCs. This paper focuses on the validation of rotorcraft waypoint guidance law which is designed by using SDRE Controller.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.706-709
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• 1997

Extruders are the heart of the polymer processing industry. The single most important mechanical element of a screw extruder is the screw. The proper design of the geometriy of the extruder screw is of crucial importance to the proper functioning of the extruder. If material transport instabilities occur as a result of improper screw geometry, even the most sophisticated computerized control system cannot solve the problem. For this purpose, characteristics design on helix angle of the extruder screw. This paper presents strength of the screw flight, optimum helix angle versus dimensionless down channel pressure gradient, optimum helix angle versus the power law index in simultaneous optimization, volumetric efficiency versus helix angle at various number of flights and power consumption versus helix angle in the barrel of screw extruder.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.588-591
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• 1998

In this paper, we present a robust adaptive backstepping output feedback controller for nonlinear systems perturbed by unmodelled dynamics and disturbances. Especially, backstepping technique with modular approach is used to separately design controller and identifier. The design of identifier is based on the observer-based scheme which possesses a strict passivity property of observer error system. We will use Switching-${\sigma}$ modification at the update law and the modified control law to attenuate the effects of undodelled dynamics and disturbances for nonlinear systems.