• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.95-101
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• 2015

In this paper, we develop a sliding mode control for steering wheel angle control based on torque overlay in order to resolve the problem of previous methods for Electric Power Steering (EPS) systems in the Lane Keeping System (LKS) of autonomous vehicles. For the controller design, we propose a 2nd order model of the electric power steering system in an autonomous LKS. The desired state model is designed to prevent a rapid change of the steering wheel angle. The sliding mode steering wheel angle controller is developed for the robustness of the disturbance. Since the proposed method is designed based on torque overlay, torque integration with basic functions of the EPS system for the steering wheel angle control is available for the driver's convenience. The performance of the proposed method was validated via experiments.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.227-228
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• 2002

One of the serious challenges in developing rotary compressor with HFC refrigerant is the prediction of scuffing times and wear amounts between vane and roller surface. In this study, the tribological characteristics of sliding surfaces using roller-vane geometry of rotary compressor were investigated. The sliding tests were carried out under various sliding speeds, normal loads and surface roughness. During the tests, friction force, wear scar width, time to failure, surface temperature, and surface roughness were monitored. Because severe wear was occurred on vane surface, TiN coating was applied on sliding surfaces to prolong the wear-life of vane-roller interfaces. From the sliding tests, it was found that there was the optimum initial surface roughness to break in and to prolong the wear life of sliding surfaces. Depending on load and speed, the protective layers, which were composed of metallic oxide and organic compound, were formed on sliding surfaces. Those would play an important role in the amount of friction and wear between roller and vane surfaces.

• 유체기계공업학회:학술대회논문집
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• 2002.12a
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• pp.221-226
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• 2002

One of the serious challenges in developing rotary compressor with HFC refrigerant is the prediction of scuffing times and wear amounts between vane and roller surfaces. In this study, the tribological characteristics of sliding surfaces using vane-roller geometry of rotary compressor were investigated. The sliding tests were carried out under various sliding speeds, normal loads and surface roughness. During the test friction force, wear depth, time to failure and surface temperature were monitored. Because severe wear was occurred on vane surface, TiN coating was applied on sliding surfaces to prolong the wear-life of vane-roller interfaces. From the sliding test it was found that there was the optimum initial surface roughness to break in and to prolong the wear life of sliding surfaces. Depending on the load and speed, the protective layers, which were composed of metallic oxide and organic compound, were formed on sliding surfaces. Those would play an important role in role amounts of friction and wear between miler and vane surfaces.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.1
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• pp.103-113
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• 2018

In this paper, an improved integral variable structure regulation controller is designed by using a special integral sliding surface and a disturbance observer for the improved regulation control of highly nonlinear rigid robot manipulators with prescribed output performance. The sliding surface having the integral state with a special initial condition is employed in this paper to exactly predetermine the ideal sliding trajectory from a given initial condition to the desired reference without any reaching phase. And a continuous sliding mode input using the disturbance observer is also introduced in order to effectively follow the predetermined sliding trajectory within the prescribed accuracy without large computation burden. The performance of the prescribed tracking accuracy to the predetermined sliding trajectory is clearly investigated in detail through the two theorems, together with the closed loop stability. The design of the proposed regulation controller is separated into the performance design and robustness design in each independent link. The usefulness of the algorithm has been demonstrated through simulation studies on the regulation control of a two-link robot under parameter uncertainties and payload variations.

• Tribology and Lubricants
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• v.20 no.6
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• pp.337-342
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• 2004

One of the serious challenges in developing rotary compressor with HFC refrigerant is the prediction of scuffing times and wear amounts between vane and roller surfaces. In this study, the tribological characteristics of sliding surfaces using vane-roller geometry of rotary compressor were investigated. The sliding tests were carried out under various sliding speeds, normal loads and surface roughness. During the test, friction force, wear depth, time to failure and surface temperature were monitored. Because severe wear occurred on vane surface, TiN coating was applied on sliding surfaces to prolong the wear life of vane-roller interfaces. From the sliding test it was found that there was the optimum initial surface roughness to break in and to prolong the wear life of sliding surfaces. Depending on the load and speed, the protective layers, which were composed of metallic oxide and organic compound, were formed on sliding surfaces. Those would play an important role in the amounts of friction and wear between roller and vane surfaces.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.7
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• pp.1289-1294
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• 2010

In this paper, a new discrete integral static output feedback variable structure controller based on the a new integral dynamic-type sliding surface and output feedback discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed integral dynamic-type sliding surface. The output feedback discrete version of disturbance observer is presented for effective compensation of uncertainties and disturbance. A corresponding control with disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined integral dynamic-type sliding surface for guaranteeing the designed output in the integral dynamic-type sliding surface from any initial condition for all the parameter variations and disturbances. Using discrete Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.4
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• pp.807-814
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• 2004

Chattering phenomenon is still a large drawback of VSS. To overcome this problem, various approaches have been reported. A new notion of sliding sector has been proposed recently. Inside this sector, a kind of norm of the state decreases without control input. Therefore, so long as the state is constrained inside this sector, the norm of the state approaches to zero. The sliding sector theory is elementary study step and is studied about only linear systems. In this paper, new methods of stabilizing unstable nonlinear systems using the sliding sector is proposed. This paper analyzes the stability, using Lyapunov function on the sliding sector. Through the computer simulations for an inverted pendulum system, it is verified that sliding sector control is capable to reduce the chattering.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.999-1004
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• 2005

An algorithm for a hybrid controller consists of a sliding mode control part and a fuzzy logic part which ar purposely for nonlinear systems. The sliding mode part of the solution is based on "eigenvalue/vector"-type controller is used as the backstepping approach for tracking errors. The fuzzy logic part is a Mamdani fuzzy model. This is designed by applying sliding mode control (SMC) method to the dynamic model. The main objective is to keep the update dynamics in a stable region by used SMC. After that the plant behavior is presented to train procedure of adaptive neuro-fuzzy inference systems (ANFIS). ANFIS architecture is determined and the relevant formulation for the approach is given. Using the error (e) and rate of error (de), occur due to the difference between the desired output value (yd) and the actual output value (y) of the system. A dynamic adaptation law is proposed and proved the particularly chosen form of the adaptation strategy. Subsequently VSC creates a sliding mode in the plant behavior while the parameters of the controller are also in a sliding mode (stable trainer). This study considers the ANFIS structure with first order Sugeno model containing nine rules. Bell shaped membership functions with product inference rule are used at the fuzzification level. Finally the Mamdani fuzzy logic which is depends on adaptive neuro-fuzzy inference systems structure designed. At the transferable stage from ANFIS to Mamdani fuzzy model is adjusted for the membership function of the input value (e, de) and the actual output value (y) of the system could be changed to trapezoidal and triangular functions through tuning the parameters of the membership functions and rules base. These help adjust the contributions of both fuzzy control and variable structure control to the entire control value. The application example, control of a mass-damper system is considered. The simulation has been done using MATLAB. Three cases of the controller will be considered: for backstepping sliding-mode controller, for hybrid controller, and for adaptive backstepping sliding-mode controller. A numerical example is simulated to verify the performances of the proposed control strategy, and the simulation results show that the controller designed is more effective than the adaptive backstepping sliding mode controller.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.6
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• pp.747-752
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• 2006

In this paper, the adaptive fuzzy sliding mode controller with two systems is designed. The existing sliding mode controller used to $approximation{\^{u}}(t)$ with discrete sgn function and sat function for keeping the state trajectories on the sliding surface[1]. The proposed controller decrease the disturbance for uncertain control gain and This paper is concerned with an Adaptive Fuzzy Sliding Mode Control(AFSMC) that the fuzzy systems ate used to approximate the unknown functions of nonlinear system. In the adaptive fuzzy system, we adopt the adaptive law to approximate the dynamics of the nonlinear plant and to adjust the parameters of AFSMC. The stability of the suggested control system is proved via Lyapunov stability theorem, and convergence and robustness properties ate demonstrated. Futhermore, fuzzy tuning improve tracking abilities by changing some sliding conditions. In the traditional sliding mode control, ${\eta}$ is a positive constant. The increase of ${\eta}$ has led to a significant decrease in the rise time. However, this has resulted in higher overshoot. Therefore the proposed ${\eta}$ tuning AFSMC improve the performances, so that the controller can track the trajectories faster and more exactly than ordinary controller. The simulation results demonstrate that the performance is improved and the system also exhibits stability.

• Proceedings of the KIPE Conference
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• 1997.07a
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• pp.84-88
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• 1997

A robust position control system for a BLDC motor using new sliding mode control strategy is presented. Using the new variable structure system, reaching phase problem is eliminated and performance is largely improved. The simulation results show the validity of proposed scheme.