• 전력전자학회논문지
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• 제4권3호
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• pp.231-239
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• 1999

변압기로써 결합된 직렬공진 부하를 가진 전압원-인버터(Voltage-Source Inverter)가 공진주파수로 작동되는 경우에 출력 전류를 제어하는 기법으로서, 개선된 전류조절형 델타변조(Current-Regulated Delta Modulator; CRDM)방식을 제안한다. 일반적인 CRDM은, 전류편차가 상당한 크기로 나타난다는 문제가 있으며, 특히 유도가열장치와 같이 부하가 변압기를 통하여 연결되는 경우에는 변압기의 자속포화 문제가 발생하므로 실제 사용에 한계가 있다. 이러한 문제를 해결하기 위하여, 자속포화 현상을 분석하고 이를 방지하기 위한 간단한 방법을 제안하며, 전류편차를 제거하기 위한 적분형 CRDM을 적용한다. 그리고 슬라이딩 모드 제어의 개념을 이용하여, 안정된 동작을 보장하는 적분기 이득의 상한치를 회로특성치로부터 구하는 방법을 제안하고, 제안된 기법의 효용성을 시뮬레이션과 실험으로써 확인한다.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.625-628
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• 2011

This paper presents an LMI-based method to design an integral sliding mode controller for a class of uncertain systems with unmatched uncertainties. The uncertain system under consideration may have unmatched parameter uncertainties in the state matrix as well as in the input matrix. Using LMIs an existence condition of a sliding surface is derived. And a switching feedback control law is given. Finally, numerical examples are given to show that the proposed method can be better than the existing results for some cases.

• 전기학회논문지
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• 제59권8호
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• pp.1441-1443
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• 2010

This paper presents an LMI-based method to design an integral sliding mode controller for for a class of uncertain systems with mismatched unstructured uncertainties. The uncertain system under consideration may have mismatched parameter uncertainties in the state matrix as well as in the input matrix. Using LMIs we derive an existence condition of a sliding surface. And we give a switching feedback control law. Finally, we give a numerical design example in order to show that the proposed method can be better than the existing results.

• 대한기계학회논문집
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• 제17권2호
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• pp.385-392
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• 1993

This paper presents a new stable composite control law for the flexible joint robot manipulators, which incorporate an additional stabilizing control law with the sliding property. The singularly perturbated models in this paper include inertia moments which are functions or the deformations of actuators as well as link positions. The values of renewedly defined fast controller variables are computer from the corrected reduced-order model without additional computational loads. Proposed schemes are compared with the conventional one. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than the conventional scheme, and especially effective for the manipulator with high joint-flexibilities.

• 전기학회논문지
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• 제58권12호
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• pp.2480-2483
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• 2009

This paper presents an LMI-based method to design a integral sliding mode controller for a class of uncertain time-delay systems. Using LMIs we derive an existence condition of a sliding surface guaranteeing the asymptotic stability of the sliding mode dynamics. And we give a switching feedback control law. Our method is a generalization of the previous integral sliding mode control design methods. Since our method is based on LMIs, it gives design flexibility for combining various useful design criteria that can be captured in the LMI-based formulation. We also give LMI existence conditions of sliding surfaces guaranteeing a-stability or LQ performance constraint. Finally, we give a numerical design example to show the effectiveness of the proposed method.

• Journal of Advanced Marine Engineering and Technology
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• 제23권3호
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• pp.369-378
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• 1999

This paper presents position control of an electro-hydraulic servo system whoch is operated by four 2-2way high speed on-off valves with either PWM PID control method or sliding mode control method, The advantages of using high speed on-off valves instead of electo-hydraulic servo valves or electro-hydraulic proportional valves are low price robustness for oil contamination and direct control without a D/A converter. The system consists of load cylinder inertia car potentiometer and external load cylinder. The experiments were carried out under several conditions and the results were compared. As a result the sliding mode method has shown good control performance and the robust and stable positioning of the elector-hydraulic servo system can be achieved accurately.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.233-236
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• 2002

We consider a single-input-single-output nonlinear system which can be represented in a normal form. The nonlinear system has a modeling uncertainties including the input coefficient uncertainties. A high-gain observer is used to estimate the states variables to reject a modeling uncertainty. A globally bounded output feedback integral sliding mode control is proposed to stabilize the closed loop system. The proposed integral sliding mode control can asymptotically stabilize the closed loop system in the it presence of input coefficient uncertainty.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2262-2264
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• 2002

In this paper, the integral sliding mode controller developed by Utkin is considered. It is pointed out that some theoretical consideration has to be added to that controller. Another type of integral sliding mode controller developed by Park is also considered. These integral sliding mode controllers have very important results in the extension of the robustness of sliding mode to the other linear control technique.

• 대한임베디드공학회논문지
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• 제16권6호
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• pp.307-312
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• 2021

This paper proposes an adaptive time-delayed control approach with the integral sliding-mode surface for the fast convergence rate of robot manipulators. Adaptive switching gain aims to guarantee the system stability in such a way as to suppress time-delayed estimation error in the proposed control approach. Moreover, it makes an effort to increase the convergence ability in reaching the phase. An integral sliding-mode surface is employed to achieve a fast convergence rate in the sliding phase. The stability of the proposed one is proved to be asymptotically stable in the Lyapunov stability. The efficiency of the proposed control approach is illustrated with a tutorial example in robot manipulator, which is compared to that of the existing control approach.

• 로봇학회논문지
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• 제13권4호
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• pp.256-264
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• 2018

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.