• Title/Summary/Keyword: variable structure

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A Study on the Design of Optimal Variable Structure Controller using Multilayer Neural Inverse Identifier (신경 회로망을 이용한 최적 가변구조 제어기의 설계에 관한 연구)

  • 이민호;최병재;이수영;박철훈;김병국
    • Journal of the Korean Institute of Telematics and Electronics B
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    • v.32B no.12
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    • pp.1670-1679
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    • 1995
  • In this paper, an optimal variable structure controller with a multilayer neural inverse identifier is proposed. A multilayer neural network with error back propagation learning algorithm is used for construction the neural inverse identifier which is an observer of the external disturbances and the parameter variations of the system. The variable structure controller with the multilayer neural inverse identifier not only needs a small part of a priori knowledge of the bounds of external disturbances and parameter variations but also alleviates the chattering magnitude of the control input. Also, an optimal sliding line is designed by the optimal linear regulator technique and an integrator is introduced for solving the reaching phase problem. Computer simulation results show that the proposed approach gives the effective control results by reducing the chattering magnitude of control input.

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Position Control of Direct Drive Brushless Motor using The Adaptive Variable Structure Control with Nonliner Switching Surfaces (비선형 적응 가변 구조 제어기를 가지는 브러쉬 없는 직접 구동형 서보 모터의 위치 제어에 관한 연구)

  • Lee, Dae-Sik;Lee, Sang-Oh
    • Proceedings of the KIEE Conference
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    • 1997.11a
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    • pp.69-71
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    • 1997
  • The direct drive motor is directly coupled by load. So, it is directly affected by load and disturbances. To control the direct drive motor, a robust controller is need. The main feature of variable structure system is that system trajectories are robust and insensitive to parameter variations and disturbances in the sliding mode. In this paper, adaptive variable structure controller, is used for the BLDD SM(Brushless Direct Drive Servo Motor) control. The chattering problem is reduced by using the saturation function.

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Variable Structure Control for a System with Mismatched Disturbances (입력과 매칭되지 않는 외란을 갖는 시스템에 대한 가변구조제어)

  • Choi, Yun-Jong;Park, Poo-Gyeon
    • Proceedings of the KIEE Conference
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    • 2007.04a
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    • pp.149-151
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    • 2007
  • For several decades, VSC has gained much attention as one of the useful design tools for handling the practical system with uncertainties or disturbances. Generally, the disturbances in the matching condition can be perfectly rejected via VSC; however, these in the mismatching condition are known to be hardly rejected. There have been some trials on it, in which the resulting controls in fact belong to the class of robust control guaranteeing disturbance ${\gamma}$-attenuation. Therefore, in this paper, we propose a new Variable Structure Control (VSC) for a system with mismatched disturbances. The proposed controller is composed of linear and nonlinear parts; the former plays a role in stabilizing the system and the latter takes care of attenuating the disturbances. The main contribution is to introduce the concept of switching-zone, rather than switching-surface, that is designed through piece-wise Lyapunov functions. The resulting non-convex conditions are formulated with an iterative linear programming algorithm, which provides an excellent performance of almost rejecting the disturbances.

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The Study of Sliding Mode Variable Structure-Fuzzy Induction Motor Control using Simulink (Simulink를 이용한 슬라이딩모드 가변구조-퍼지 유도전동기 속도제어에 관한 연구)

  • Kim, Sang-Woo;Kim, Byung-Jin;Jung, Eul-Gi;Jeon, Hee-Jong
    • Proceedings of the KIPE Conference
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    • 1998.07a
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    • pp.361-365
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    • 1998
  • In this paper, the sliding mode variable structure-fuzzy(SMVS-F) control algorithm is applied to speed controller for field oriented induction motor drive system. According to the principle of sliding mode variable structure-fuzzy adjustable speed control scheme, the proposed algorithm shows good performances which are reducing chattering, robustness against parameter variation in induction motor drive. The validity of the proposed control scheme is verified by computer simulation using SIMULINK.

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Variable Structure Control for Mechatronics Application (메카트로닉스에의 적용을 위한 가변구조제어)

  • Park, Jae-Sam;Chung, Byung-Tae
    • Proceedings of the Korea Society for Industrial Systems Conference
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    • 1997.11a
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    • pp.463-471
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    • 1997
  • In this paper, a new variable structure controller (VSC) is presented. The presented VSC can be applicable to most mechatronic systems such as robotics. A VSC (or also called sliding mode control;SMC) algorithm is presented first, and next, a VSC with nonlinear integral control algorithms is presented. The algorithms use no linear approximation for the derivation of the control law or in the stability proof. It is shown that the robustness of the developed algorithms are guaranteed by the sliding mode control and that the algorithms are globally convergent.

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Design of Variable Structure Controller with Time Varying Switching Surface (시변 스위칭 면을 갖는 기변구조 제어기의 설계)

  • Lee, Min-Jung;Kim, Hyun-Sik;Choi, Young-Kiu
    • Proceedings of the KIEE Conference
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    • 1997.07b
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    • pp.471-473
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    • 1997
  • In this paper, We propose a variable structure controller with time varying switching surface. We calculate the maximum value of switching surface gradient under the bound of input. To enhance the robustness, we, choose a time varying switching surface gradient that is of the 3rd order polynominal form. We use evolution strategy to optimize the parameters of the switching surface gradient. Finally, the proposed method is applied to the motor position control. Simulation results show that the proposed method is more useful than the conventional variable structure controller.

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Digital Variable Structure Control for a Hot Water Heating System (온수나방 시스템의 디지틀 가변구조제어)

  • 안병천;장효환
    • Korean Journal of Air-Conditioning and Refrigeration Engineering
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    • v.8 no.1
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    • pp.65-75
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    • 1996
  • A pilot plant, which is simplified the hot water heating control system of a large scale residential building, is used to investigate the effects of control methods and operating conditions on the system performance and to compare control characteristics. Digital variable structure controller(DVSC) and digital PI controller are implemented to control the speed of the circulating pump for the pilot plant using PC. For the DVSC, a control algorithm is suggested, which using a nonlinear sliding surface and a PID sliding surface outside and inside of output error boundary layer, respectively. Smith predictor algorithm is used for the compensation of long dead time. The suggested DVSC yields improved control performance compared with existing DVSC using linear sliding surface only. the system responses with the suggested DVSC shows good responses without overshoot for various operating conditions and robust under external disturbances compared with digital PI controller.

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Implementations of the variable structure control system using neural networks (신경회로망을 이용한 가변 구조 제어 시스템의 구현)

  • Yang, Oh;Yang, Hai-Won
    • Journal of the Korean Institute of Telematics and Electronics B
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    • v.33B no.8
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    • pp.124-133
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    • 1996
  • This paper presents the implementation of variable structure control system for a linear or nonlinear system using neural networks. The overall control system consists of neural network controller and a reaching mode controller. While the former approximates the equivalent control input on the sliding surface, the latter is used to bring the entire system trajectories toward the sliding surface. No supervised learning procedures are needed and the weights of the neural network are tuned on-line automatically. The neural netowrk-based variable structure control system is applied to a nonlinare unstable inverted pendulum system through computer simulations, and implemented using a microcomputer (80486-50MHz) and applied to the DC servomotor position control system. Simulation and experimental results show the expected approximation sliding property is occurred. The proposed controller is compared with a PID controller and shows better performance than the PID controller in abrupt plant parameter change.

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A New Robust Output Feedback Variable Structure Controller for Uncertain More Affine Nonlinear Systems with Mismatched Uncertainties and Matched Disturbance

  • Lee, Jung-Hoon
    • Journal of IKEEE
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    • v.18 no.2
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    • pp.206-213
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    • 2014
  • In this note, a new robust nonlinear output feedback variable structure controller is first systematically and generally designed for the output control of more affine uncertain nonlinear systems with mismatched uncertainties and matched disturbance. A transformed integral output feedback sliding surface with a most simple form is applied in order to remove the reaching phase problems. The closed loop exponential stability and the existence condition of the sliding mode on the integral output feedback sliding surface is investigated with a corresponding output feedback control input in Theorem 1. For practical application the continuous implementation of the control input is made by the modified saturation function. The effectiveness of the proposed controller is verified through a design example and simulation study.

A Static Output Feedback Integral Variable Structure Controller for Uncertain Systems with Unmatched System Matrix Uncertainty (부정합 시스템 행렬 불확실성을 갖는 시스템을 위한 정적 출력 궤환 적분 가변 구조 제어기)

  • Lee, Jung-Hoon
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.59 no.2
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    • pp.411-416
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    • 2010
  • In this paper, an integral variable structure static output feedback controller with an integral-augmented sliding surface is designed for the improved robust control of a uncertain system under unmatched system uncertainty and matched input matrix uncertainty and disturbance satisfying some conditions. To effectively remove the reaching phase problems, an output dependent integral augmented sliding surface is proposed. Its equivalent control and ideal sliding mode dynamics are obtained. The previous some limitations is overcome in this systematic design. A stabilizing control with the closed loop exponential stability is designed for all unmatched system matrix uncertainties and proved together with the existence condition of the sliding mode on S=0. To show the usefulness of the algorithm, a design example and computer simulations are presented.