• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.253-256
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• 1996

In this paper, A new time-varying sliding surface design using eigenvalue locus is proposed to achieve fast and robust in a class of high-order uncertain dynamic system. A moving sliding surface(MSS) was proposed earlier for the second-order variable structure control systems(VSCS). This methodology led to fast and robust control responses of the second-order VSCS. However, the moving algorithm of the MSS was too complicated to be employed the high-order VSCS. To resolve this problem, we propose a new moving algorithm that switching surface moves such that the eigenvalues of equivalent system in the sliding mode have a predetermined locus. Using the proposed surface fast and robust behaviors are accomplished. The problem of chattering can be eliminated by using a boundary layer of switching surface. The efficiency of proposed algorithm is illustrated by an application to four-order workbench.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1208-1211
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• 2010

We propose a variable structure control design method for a class of multivariable uncertain state-delayed systems which can be represented by polytopic models. In terms of LMIs, we derive a sufficient condition for the existence of a linear sliding surface guaranteeing the asymptotic stability of the sliding mode dynamics. We parameterize the sliding surface by using the solution of the LMI existence condition. We also give a switching feedback control strategy guaranteeing stable sliding mode. By using a numerical example, we show that our method supplements the existing results and it can be better than the existing results.

• Nuclear Engineering and Technology
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• v.52 no.3
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• pp.544-551
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• 2020

Reactor control is a standout amongst the most vital issues in the nuclear power plant. In this paper, the optimal design of variable structure controller (VSC) based on the lightning search algorithm (LSA) is proposed for a nuclear reactor power system. The LSA is a new optimization algorithm. It is used to find the optimal parameters of the VSC instead of the trial and error method or experts of the designer. The proposed algorithm is used for the tuning of the feedback gains and the sliding equation gains of the VSC to prove a good performance. Furthermore, the parameters of the VSC are tuned by the genetic algorithm (GA). Simulation tests are carried out to verify the performance and robustness of the proposed LSA-based VSC compared with GA-based VSC. The results prove the high performance and the superiority of VSC based on LSA compared with VSC based on GA.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.9
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• pp.658-663
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• 2003

In deterministic design of feedback controllers for uncertain dynamic systems, the upper bound of the uncertainty is very important to guarantee the stability of the closed loop system. In this paper, we assume that the upper bound of the uncertainty is formulated using a Fredholm integral equation of the first kind, that is, an integral of the product of a predefined kernel with an unknown influence function. We propose an adaptation law that is capable of estimating this upper bound. Using this adaptive upper bound, we design an adaptive variable structure control (AVSC), which guarantees asymptotic stability/ultimate boundedness of uncertain dynamic systems. The illustrative example shows the proposed AVSC is effective for uncertain dynamic systems.

• 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.

• 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.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.923-924
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• 2007

due to the modification of ventilation system for variable speed high efficiency PMSM, the ventilation structure is analyzed in this part. First, a cooling structure was proposed for the variable speed PMSM. Through the contrast result of whole stress and speed distribution in the cooling channel by fluid field, the fans setting fashion is confirmed. By the studying of cooling structure for improved PMSM, the position of the cooling hole in the rotor is optimized by the finite element method. At last, the thermal field distribution of the motor is calculated by FEM. The calculated thermal rise is in accord with measured value, which provides effective basement for the design and safety operation of PMSM.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.2088-2100
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• 1994

Considerable attention has been given to controller designs that utilize the variable structure system theory in order to achieve robust tracking performance of robotic manipulators subjected to parameter variations and extraneous disturbances. However, the theory has not had wide spread acceptance in practical control engineering community due mainly to the worry of chattering which is inherently ever-existing in the variable structure system. This paper presents a novel type of fuzzy-sliding mode controller to alleviate the chattering problem. A sliding mode controller for robust robot control is firstly synthesized with an assumption that the imposed system uncertainties satisfy matching conditions so that certain deterministic performances can parameters and control rules are obtained from a relation between predetermined sliding surfaces and representative points in the error state space. A two degree-of-freedom robotic manipulator subjected to a variable payload and a torque disturbance is considered in order to demonstrate superior tracking performance accrued from the proposed methodology.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.548-551
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• 1991

The Sliding Mode Control of Variable Structure System is applied to robot manipulators or servo system for its merits of robustness to variable system parameters and disturbances. But Switching frequency of control input is excessively high during sliding mode operation. In this paper, a new control algorithm usings fuzzy logic is proposed to solve this problem. With the proposed algorithm, a dc motor speed control system has been simulated and the result shows expected performances.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.249-252
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• 1997

In this paper the sway-control problem of a container crane is investigated in the perspective of controlling an underactuated mechanical system. For fast loading/unloading of containers from the ship, quick suppression of the remaining swing motion of the container at the end of each trolley stroke is crucial. Known nonlinearities are fully incorporated by feedback linearization. Robustness is enhanced by variable structure control. Compared with the linear LQ control, much better performance can be obtained.