• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.354-359
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• 2003

In this paper, we consider the problem of designing a simple learning variable structure system for repeatable tracking control of robot manipulators. We combine a variable structure control law as the robust part for stabilization and a feedforward learning law as the intelligent part for nonlinearity compensation. We show that the tracking error asymptotically converges to zero. Finally, we give computer simulation results in order to show the effectiveness of our method.

• Journal of IKEEE
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• v.10 no.2 s.19
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• pp.97-102
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• 2006

In this paper, a new simple integral variable structure controller is designed with incorporating the actuator dynamics. The formulation of the VSS (variable structure system) controller design includes integral augmented sliding surface and the dynamics of the actuator expressed as the state equation. An illustrative example is given to show the effectiveness of the developed controller.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.321-325
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• 1986

A new control scheme for the state space model of the robot system using the theory of optimal multi-variable structure is presented in this paper. It is proposed to optimize multi-dimensional variable structure systems for obtaining the required stabilizing signal by minimizing a performance index with respect to the state vector in the sliding mode. It is concluded the proposed variable structure controller yields better system dynamic performance than that obtained by using the only linear optimal controller inthat responses for a step disturbance have a shorter setting time, no matter what overshoot values and rising time.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.643-647
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• 1990

Gunner primary sight(GPS) stabilization system lays line of sight(LOS) to find out a target and transmits informations to the fire control system (FCS). In a moving vehicle, accuracy of LOS and FCS depends on the design of GPS and servomechanism system. The heavy vibration of vehicle on the severe off-road environment degenerates the stabilization capability of GPS. In this study, to stabilize of elevation for GPS using the variable structure control, we derived the dynamic equation of GPS system and designed the variable structure controller. Computer simulation results fulfilled the static and dynamic stability of GPS using the variable structure control.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.3
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• pp.262-268
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• 1988

In this paper conditions are derived, which ensure the existence of a quasi-sliding mode on the control switching hyperplane in discrete variable structure control systems and also remove the reaching phase problem observed in continuous-time variable structure systems. In addition, a discrete variable structure tracking controller which has adaptive properties is devised based on these results. This controller has useful properties, such as small sensitivity to the variation of plant parameters and to disturbances and its performing speed is fast compared to that of other adaptive controller.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.9
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• pp.2854-2865
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• 1996

The concept of variable-geometry truss structure(VGTS) is introduced as a class of actively controlled adaptive structure. VGTS can purposefully vary its geometric configurations by changing the lengths of some members of the structure. General kinematics and inverse kinematics of a statically determinate VGTS(variable geometry truss structure) are studied. The solution technique is based on the Jacobian matrix obtained via joint equilibrium equations. Pseudoinverse control method is applied to resolve the redundancy of a large VGTS. two types of actuator layout of octahedral type VGTS, VG truss and Stewart platform, are compared. Introducing the concept of performance index, Stewart platform based layout was found to has less consumption energy and manipulation time. A functional VGTS model with 3 octahedral modules is designed and manufactured for the labaratory demonstration. Six vertically located length-variable members are used to create general 6 d.o.f. motions.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.63-66
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• 1988

In the control of the robotic manipulators, the variable structure control method for the get Point Regualation has a advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulators are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.655-657
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• 1995

Variable Structure Controller is well known to be a robust controller. Recently, Evolution Strategy is used as a effective search algorithm. In this paper, we propose a Variable Structure Controller combined with Evolution Strategy. Evolution Strategy is used to estimate the unknown parameters, the control gain and the thickness of saturation function boundary layer of Variable Structure Controller. From the experiment, we found the proposed Variable Structure Controller shows accurate tracking ability and robust performance in the BLOC motor position control system.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.12
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• pp.1601-1609
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• 1988

In the control of the robotic manipulators, the variable structure control method for the set point Regualation has an advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulatores are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.4
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• pp.402-409
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• 1999

Variable structure control law is well known to be a robust control algorithm and evolution strategy is used as an effective search algorithm in optimization problems. In this paper, we propose a variable structure controller with time-varying switching surface. We calculate the maximum value of seitching surface gradient that is of the 3rd order polynomial form. Evolution strategy is used to optimize the parameters of the switching surface gradient. Finally, the proposed method is applied to position tracking control for BLDC motor. Experimental results show that the proposed method is more useful than the conventional variable structure controller.