• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1504-1508
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• 1996

In this paper, we derive dynamic equation of helicopter and design controller based on variable structure system. It is difficult to control helicopter because it has non-linear coupling between input and output of system and is MIMO system. The design of control law is considered here using variable structure methodology giving the robustness to parameter variations and invariance to some subsets of external disturbance. However we derive dynamic equations of helicopter and design stabilizing variable structure controller. Also, simulation results are given in this paper.

• 정보처리학회논문지A
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• 제8A권1호
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• pp.56-62
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• 2001

This paper presents a neural network based variable structure control scheme for nonlinear systems. In this scheme, a set of local variable structure control laws are designed on the basis of the linear models about preselected representative points which cover the range of the system operation of interest. From the combination of the set of local variable structure control laws, neural networks infer the approximate control input in between the operating points. The neural network based variable structure control alleviates the effects of model uncertainties, which cannot be compensated by the control techniques using feedback linearization. It also relaxes the discontinuity in the system’s behavior that appears when the control schemes based on the family of the linear models are applied to nonlinear systems. Simulation results of a ball and beam system, to which feedback linearization cannot be applied, demonstrate the feasibility of the proposed method.

• 대한전기학회논문지
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• 제41권4호
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• pp.392-399
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• 1992

This paper will describe the application of variable structure control theory to the first order dynamic system and verify its robustness. The study on the first order dynamic system control which has been essential part for the control of servo motor (AC,DC) systems has been excluded in the study of variable structure control system(VSCS) because this first order system was not applicable to the previous variable structure control theory. So, for the robustness control of first order dynamic system with variable structure control theory, we propose modified switching function synthesis which guarantees the advantages of conventional VSCS and removes reaching phase which is regarded as shortcomings in VSCS. And we demonstrate the practical potential of implementation about this theory by simulation results of AC motor variable speed control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.179-184
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• 1991

This paper will describe the application for variable structure control theory to the first order dynamic system and verify it's robustness. The study on the first order dynamic system control which has been essential part for the control of servo motor (AC, DC) systems has been excluded in the study of variable structure control system(VSCS) because this first order system was not applicable to the previous variable structure control theory. So, for the robustness control of first order dynamic system with variable structure control theory, we propose modified switching function synthesis which guarantees the advantages of conventional VSCS and removes reaching phase which regards as shortcomings in VSCS. And we demonstrate the practical potential of implementation about this theory by simulation results of AC motor variable speed control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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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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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• 전기전자학회논문지
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• 제10권2호통권19호
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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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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.72-75
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• 1988

Due to the fact that the set point regulation scheme by the variable structure control method concerns only the initial and final locations of a manipulator, many constraints may exist in the application of path tracking with obstracle avoidance. The variable structure parameter should be selected in the trajectory planning step by satisfying the constraints of the travel time and the path deviations This paper presents the selection algorithm of the variable structure parameters with the constraints of the system dynamics and the travel time and the path deviation. This study makes unify the trajectory planning and tracking control using the variable structure control method.

• 전기학회논문지
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• 제59권11호
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• pp.2066-2072
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• 2010

In this paper, a variable structure dynamic output feedback controller with an transformed sliding surface is designed for the improved robust control of a uncertain system under unmatched system uncertainty, matched input matrix uncertainty, and disturbance satisfying some conditions. This paper is extended from the results of the static output feedback VSS in [9]. To effectively remove the reaching phase problems, an initial condition of the dynamic output is determined. The previous some limitations on the dynamic output feedback variable structure controller is overcome in this systematic design. A stabilizing control is designed to generate the sliding mode on the predetermined sliding surface S=0 and as a results the closed loop exponential stability is obtained and proved together with the existence condition of the sliding mode on S=0 for all unmatched system matrix uncertainties. To show the usefulness of the algorithm, a design example and computer simulations are presented.