• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.227-231
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• 2004

In this paper, a robust Sliding Mode Variable Structure (SMVS) controller is designed for Active Queue Management (AQM). This type of controller is insensitive to noise and variance of the parameters, thus it is suitable to time varying network systems. Simulation results conform the robust performance of SMVS controller against the disturbance. At the same time, a complete comparison between SMVS and PI controllers is made. The conclusion is that both transient and steady state performance of SMVS controller is better than that of PI one.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.267-270
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• 1995

In this paper, a variable structure control scheme with a terminal sliding mode is proposed for robot manipulators. The proposed control scheme guarantees that the output tracking error converges to zero in finite time, and the overall system shows robust property against parametric uncertainties and external disturbances all the time.

• Proceedings of the KSR Conference
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• 한국철도학회 2001년도 추계학술대회 논문집
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• pp.119-124
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• 2001

As the brake control valve of freight car, there are sliding valve and diaphragm one. In this study, we measured and analyzed pneumatic characteristics of brake system of the freight car by using real train experiment. The difference of the release time appears in the freight car incorporated with sliding and diaphragm valve respectively. We adapted quick release valve to reduce the difference of the release time and also found that this valve is useful for the purpose.

• Journal of Institute of Control, Robotics and Systems
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• 제7권5호
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• pp.393-398
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• 2001

This paper presents a new method with time-varying boundary layer and input gain, variated by Fuzzy Logic Control(FLC) by means of the system state in Sliding Mode Control (SMC). In addition to the time-varying boundary layer, the time-varying range of the fuzzy membership function has an effect on not only chattering reduction but also fast response characteristics. On the basis of SMC with time-varying boundary and FLC with time-varying input and output range, a computer simulation for inverted pendulum results in elimination of the chattering phenomenon and fast response.

• Journal of Korea Society of Industrial Information Systems
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• 제16권4호
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• pp.45-52
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• 2011

In the real-field of control cases for robot manipulators, there always exists a modeling error, which results the model has the uncertainties in its parameters and/or structure. In many modem applications, digital computers are extensively used to implement control algorithms to control such systems. The discretization of the nonlinear dynamic equations of such systems results in a complicated discrete dynamic equations. Therefore, it will be difficult to design a discrete-time controller to give good tracking performances in the presence of certain uncertainties. In this paper, a discrete-time sliding mode control algorithm for nonlinear and time varying robot manipulators with uncertainties is presented. Sufficient conditions for guaranteeing the convergence of the discrete-time SMC system are derived. As example simulations, the proposed SMC algorithm is applied to a two-link robotic manipulator with unknown dynamics. The results of the simulation indicate that the developed control scheme is effective in manipulators and electro-mechanical system control.

• Journal of Mechanical Science and Technology
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• 제16권11호
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• pp.1428-1434
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• 2002

The ball-on-disk type sliding tests with boundary lubricated steels were carried out to verify the effect of initial spacing in surface profiles on wear and scuffing. Three kinds of surface spacing, which are closely related with initial surface micro-cracks on sliding surfaces, were produced on AISI 1045 steel surfaces using different grinding and polishing processes. Frictional forces and time to scuffing were measured, and the shape and amount of wear particles were analyzed to compare the with original surface profiles. From the tests, it was confirmed that the size of wear particles are related closely to the original spacing of the surface profile. The time to failure and amount of wear were sensitive to the surface spacing. The wider surface spacing shows much longer sliding life and smaller amount of wear than the others. Time to scuffing was increased with increasing surface pro(lie spacing. The size of wear particles increased while the wear and wear rate K were decreased with an increase in surface spacing. After the sliding tests, surface cracks of inner parts of the wear track formed due to scuffing were observed and compared among the specimens having the different surface spacing.

• Journal of the Korean Solar Energy Society
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• 제33권3호
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• pp.36-41
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• 2013

The reflection plate in twin-glass evacuated tube solar collector is controlled to reduce the overheat during the summer time. The sliding type and folding types are suggested and tested. The sliding type changes the plate angle and the folding type changes the opening angle of the reflection plate. By scattering the focus of the reflected radiation from the reflection plate, the temperature rise of the working fluid can be reduced. The sliding type shows the best results in overheat reduction. When solar radiation is 900 $W/m^2$, the temperature rise in one sliding type collector is reduced about $2^{\circ}C$ compared to that of the normal solar collector. When this method is applied to seven series-collectors in the field, the reduction of temperature rise during the summer time should be significant.

• International Journal of Automotive Technology
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• 제5권2호
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• pp.123-133
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• 2004

This paper describes a robust and fast wheel slip tracking control using a moving sliding surface technique. A traction control system (TCS) is the active safety system used to prevent the wheel slipping and thus improve acceleration performance, stability and steerability on slippery roads through the engine torque and/or brake torque control. This paper presents a wheel slip control for TCS through the engine torque control. The proposed controller can track a reference input wheel slip in a predetermined time. The design strategy investigated is based on a moving sliding surface that only contains the error between the reference input wheel slip and the actual wheel slip. The used moving sliding mode was originally designed to ensure that the states remain on a sliding surface, thereby achieving robustness and eliminating chattering. The improved robustness in driving is important due to changes, such as from dry road to wet road or vice versa which always happen in working conditions. Simulations are performed to demonstrate the effectiveness of the proposed moving sliding mode controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.109.1-109
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• 2001

This paper deals with the path following problem of car-like intelligent mobile robot. A robust sliding mode control law based on time-varying state feedback is performed via Lyapunov method for path tracking of nonholonomic mobile robot with uncertainties. At first, A sliding control law is designed by combing the natural algebraic structure of the chained form system with ideas from sliding mode theory. Then, a robust control law is proposed to impose robustness against bounded uncertainties in path tracking. The problem of estimating the asymptotic stability region and the sliding domain of uncertain sliding mode system with bounded control input is also discussed. The proposed sliding mode control law can ensure the global reaching condition of the uncertain control system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.330-335
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• 1994

In this paper, adaprive control and sliding mode control are combined to implement the proposed adaptive sliding mode control(ASMC) algorithm which is new approach to the control of industrial robot manipulator with external disturbances and parameter uncertainties. Adaptive control algorithm is designed by using the principle of the model reference adaptive control method based upon the hyperstability theory. The contribution of this method is that the parameters of the sliding surface are replaced by time varying parameters whose are calculated by an adaptation algorithm, which forces the errors to follow the behavior of a reference error model. Simulation results show that the proposed method not only improves the performance of the system but also reduces the chattering problem of sliding mode control. Consequently, it is expected that the new adaptive sliding mode control algorithm will be suited for various practical applications.