전자공학회논문지 (Journal of the Institute of Electronics and Information Engineers)

  • 제52권7호
  • /
  • Pages.127-134
  • /
  • 2015
  • /
  • 2287-5026(pISSN)
  • /
  • 2288-159X(eISSN)
대한전자공학회 (The Institute of Electronics and Information Engineers)
권호 표지
DOI QR코드

DOI QR Code

다입출력 불확실 선형 플랜트를 위한 포화함수에 의한 연속 슬라이딩 면 변환 가변구조시스템

A Continuous Sliding Surface Transformed VSS by Saturation Function for MIMO Uncertain Linear Plants

  • 이정훈 (국립경상대학교 제어계측공학과, ERI)
  • Lee, Jung-Hoon (Dept of Control & Instrum. Eng., Gyeongsang National University)
  • 투고 : 2015.01.24
  • 심사 : 2015.06.30
  • 발행 : 2015.07.25
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

본 연구에서는 다입출력 불확실 선형 플랜트를 위한 포화함수에 의한 연속 슬라이딩 면 변환 가변 구조 시스템이 주어진다. 이론적으로 불연속 슬라이딩 면 변환 가변구조 시스템을 제안한다. 사전에 결정된 슬라이딩 면 위에 슬라이딩 모드의 다입출력 존재 조건과 함께 페루프 지수 안정성에 대해 검토한다. 실제 응용을 위하여 포화 함수에 의하여 불연속 가변구조 시스템의 연속 근사화를 이룬다. 실제적인 관점에서 가변 구조 시스템의 내부 특성인 제어입력의 불연속성을 많이 개선한다, 설계 예와 시뮬레이션 연구를 통하여 제안된 연속 변환 가변구조 시스템 제어기의 유용성을 입증한다.

In this note, a continuous sliding surface transformed variable structure systems by the saturation function is presented for MIMO uncertain linear plants. A discontinuous sliding surface transformed VSS is proposed theoretically. The closed loop exponential stability together with the MIMO existence condition of the sliding mode on the predetermined sliding surface is investigated. For practical applications, a continuous approximation of the discontinuous VSS is made by means of the saturation function. The discontinuity of the control input as the inherent property of the VSS is much improved in view of the practical aspects. Through a design example and simulation studies, the usefulness of the proposed continuous transformed VSS controller is verified.

키워드

참고문헌

  1. V.I. Utkin, Sliding Modes and Their Application in Variable Structure Systems. Moscow, 1978.
  2. Young, K. D. Utkin, V.I. Ozguner, U, "A Control Engineer's Guide to Sliding Mode Control," 1996 IEEE Workshop on Variable Structure Systems, pp.1-14
  3. Decarlo, R. A., Zak, S. H., and Mattews, G. P., "Variable Structure Control of Nonlinear Multivariable Systems: A Tutorial," Proc. IEEE, 1988, 76, pp.212-232. https://doi.org/10.1109/5.4400
  4. Drazenovic, B.:The invariance conditions in variable structure systems, Automatica, 1969, (5), pp.287-295. https://doi.org/10.1016/0005-1098(69)90071-5
  5. J. H. Lee and M. J. Youn, "An Integral-Augmented Optimal Variable Structure control for Uncertain dynamical SISO System, KIEE(The Korean Institute of Electrical Engineers), vol.43, no.8, pp.1333-1351, 1994.
  6. S. V. Baida and D. B. Izosimov, "Vector Method of Design of Sliding Motion and Simplex Algorithms." Automat. Remote Control, vol. 46 pp.830-837, 1985.
  7. R. DeCarlo and S. Drakunov, "Sliding Mode Control Design via Lyapunov Approach," Proc. 33rd IEEE Conference on CDC, pp.1925-1930, 1994.
  8. W. C. Su S. V. Drakunov, and U. Ozguner, "Constructing Discontinuity Surfaces for Variable Structure Systems: A Lyapunov Approach," Automatica, vol.32 no.6 pp.925-928,1996 https://doi.org/10.1016/0005-1098(96)00017-9
  9. H. H. Choi, " LMI-Based Sliding Surface Design for Integral Sliding Mode Control of Mismatched Uncertain Systems, IEEE T. Automatic Control, vol.52, no.4 pp736-742, 2007. https://doi.org/10.1109/TAC.2007.894543
  10. J. H. Lee, 'A Poof of Utkin's Theorem for a MI Uncertain System," KIEE, vol.59, no.9, pp.1680-1685, 2010.
  11. G. Ambrosino, G. Celentano, and F. Garofalo, "Variable Structure Model Reference Adaptive Control Systems," Int. J. Control, Vol. 39, no.6 pp.1339-1349, 1984. https://doi.org/10.1080/00207178408933250
  12. H. Hasimoto, K. Maruyama, and F. Harashima, "A Microprocessor-Based Robot Manipulator Conrtol with Sliding Mode," IEEE Trans. Industrial Electronics, vol. IE-34, no.1, pp.11-18, 1987. https://doi.org/10.1109/TIE.1987.350917
  13. J. J. Lee, J. H. Lee, and J. S. Lee, Efficient sliding mode control for robot manipulator with prescribed tracking performance. Robotica, vol.10, pp.521-530, 1992. https://doi.org/10.1017/S0263574700005841
  14. Jung Hoon Lee, Jong Sun Ko, Se Kyo Chung, Dae Sik Lee, Ju Jang Lee, and Myung Joong Youn, "Continuous Variable Controller for BLDDSM Position Control with Prescribed Tracking Performance," IEEE Transaction on Industrial Electronics, Vol. 41, no. 5 pp.1-9, 1994.
  15. J. H. Lee and W. B. Shin, Continuous variable structure systems for tracking control of BLDDSM, Proc. Of IEEE Int. Workshop on VSS, Tokyo, pp.84-89, 1996.
  16. J. J. Slotine and S. S. Sastry, "Tracking Control of Nonlinear Systems Using Sliding Surface, with Application to Robot Manipulators" Int. J. Control, vol. 38, no. 2, pp.465-492, 1983. https://doi.org/10.1080/00207178308933088
  17. J. A. Burton and A. S. I. Zinober, "Continuous Approximation of Variable Structure Control" Int. J. System Sci. vol.17, no. 6, pp. 875-885, 1986. https://doi.org/10.1080/00207728608926853
  18. G. Bartolini, "Chattering Phenomena in Discontinuous Control Systems" Int. J. System Sci. vol.20, no. 12, pp. 2471-2481, 1989. https://doi.org/10.1080/00207728908910327
  19. J. X. Xu, H. Hashimoto, J. J. Slotine, Y. Arai, and F. Harashima, "Implementation of VSS Control to Robotic Manipulators - Smoothing Modifications" IEEE Trans. on Industr. Electr., vol. 1.E.-36, no.3, Aug., 1989.
  20. F. Esfandiari and H. K. Khali, "Stability Analysis of a Continuous Implementation of Variable Structure Control," IEEE Trans. Automat. Control, vol.AC-36, no.5 pp. 616-620, May 1991.
  21. G. Bartolini, A. Ferrara and E. Usai, "Chattering Avoidance by Second-Order Sliding Mode Control," IEEE Trans. Automat. Control, vol.AC-43, no.2 pp.241-246, Feb. 1998.
  22. H. Lee and V. I. Utkin, "Chattering Suppression Methods in Sliding Mode Control Systems," Annual Reviews in Control, vol. 31, pp.179-188, 2007. https://doi.org/10.1016/j.arcontrol.2007.08.001
  23. M. Zohdy, M. S. Fadali, and J. Liu, "Variable Structure Control Using Decomposition," IEEE T. Automatic Control, vol.37, no.10 pp1514-1517, 1992. https://doi.org/10.1109/9.256371