• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.646-651
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• 2004

This paper deals with a new adaptive fuzzy sliding mode controller and its application to an inverted pendulum. We propose new method of adaptive fuzzy sliding mode control scheme that the fuzzy logic system is used to approximate the unknown system functions in designing the SMC of uncertain nonlinear systems. The controller's construction and its analysis involve sliding modes. The proposed controller consists of two components. Sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum. The results show that both alleviation of chattering and performance are achieved

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1987-1992
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• 2004

A Variable Structure Model Reference Adaptive Controller (VS-MRAC) using state Variables is proposed for single input multi output systems. . The structure of the switching functions is designed based on stability requirements, and global exponential stability is proved. Transient behavior is analyzed using sliding mode control and shows perfect model following at a finite time. The effect of input disturbances on stability and transients is investigated and shows preference to the conventional MRAC schemes with integral adaptation law. Sliding surfaces are independent of system parameters and therefore VS-MRAC is insensitive to system parameter variations. Simulation is presented to clear the theoretical results.

• 한국정밀공학회지
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• 제19권2호
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• pp.126-132
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• 2002

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper an independent joint adaptive fuzzy sliding mode scheme is developed leer control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for independent joint control of a 3-axis PUMA arm will also be included.

• 한국정밀공학회지
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• 제24권12호
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• pp.82-87
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• 2007

Excavator has been used in wide field since the attachment in the end effect can be changeable according to the purpose of working. However, efficiency of work using excavator mainly depends on an operator's ability. For the purpose of improving the efficiency of work and reducing the fatigue of operator, the automatic excavator system has been researched. In this paper, the tracking control system of each links of excavator is designed before developing the automatic excavator system. In order to apply the tracking control system, the pneumatic excavator system is developed and the tracking control system is applied. For designing the tracking control system, the adaptive sliding mode control algorithm is proposed. The performance of the proposed control system is evaluated through experiments using the pneumatic excavator system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 A
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• pp.331-333
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• 1995

A high performance motor drive system must have a good speed command tracking, a insensitivity to a parameter variation and sampling time. In this paper, a robust speed controller for an induction motor is proposed. The speed controller is fuzzy-sliding adaptive controller and its system continuously is varied. That is, only P gain act in dynamic state, I gain in steady-state. Because this system is a sort of adaptive control system, global stability analysis is used to Lyapunov function. Consequently, in this paper application of fuzzy sliding adaptive controller to induction motor controlled by vecter control is presented and the control system is digitally implemented within DSP.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 춘계학술대회 학술발표 논문집
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• pp.35-38
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• 1998

Abstracts In this paper, we propose a robust adaptive fuzzy control scheme using a sliding control input for tracking of a class of MISO nonlinear systems with unknown bounded external disturbances. In the proposed scheme, the nonlinearity is estimated adaptively via a fuzzy inference based on a fuzzy model. A sliding control input is introduced such that boundedness of all signals in the system is guaranteed even though the existence of a fuzzy approximation error and external disturbances. The controller parameters are updated by using a proposed adaptation law, which is similar 1-modification method. Computer simulation shows the effectiveness of the proposed control scheme.

• 한국산학기술학회논문지
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• 제12권11호
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• pp.5143-5149
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• 2011

본 논문은 슬라이딩 모드 관측기를 이용한 적응 속도 센서리스 벡터제어에 대해 제안한다. 적응 슬라이딩 모드 관측기는 전압식을 이용한 전동기 고정자 기준좌표에 의해 회전자 자속성분이 관측된다. Lyapunov 함수에 의해 얻어지는 추가적인 관계로부터 전동기의 속도가 구해진다. 성능 확인을 위해 전통적인 PI 제어기와 슬라이딩 모드 관측기의 추가적인 특성에 대해 시뮬레이션과 실험을 통해 비교하였다. 분석과 비교에 의한 결과에 의하면 시스템의 유용성을 확인할 수 있었다.

• Journal of Power Electronics
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• 제14권4호
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• pp.704-711
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• 2014

This paper proposes a combined fuzzy adaptive sliding-mode voltage controller (FASVC) for a three-phase UPS inverter. The proposed FASVC encapsulates two control terms: a fuzzy adaptive compensation control term, which solves the problem of parameter uncertainties, and a sliding-mode feedback control term, which stabilizes the error dynamics of the system. To extract precise load current information, the proposed method uses a conventional load current observer instead of current sensors. In addition, the stability of the proposed control scheme is fully guaranteed by using the Lyapunov stability theory. It is shown that the proposed FASVC can attain excellent voltage regulation features such as a fast dynamic response, low total harmonic distortion (THD), and a small steady-state error under sudden load disturbances, nonlinear loads, and unbalanced loads in the existence of the parameter uncertainties. Finally, experimental results are obtained from a prototype 1 kVA three-phase UPS inverter system via a TMS320F28335 DSP. A comparison of these results with those obtained from a conventional sliding-mode controller (SMC) confirms the superior transient and steady-state performances of the proposed control technique.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권2호
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• pp.145-150
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• 2005

We proposed the indirect adaptive fuzzy model based sliding mode controller to control nonaffine nonlinear systems. Takagi-Sugano fuzzy system is used to represent the nonaffine nonlinear system and then inverted to design the controller at each sampling time. Also sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. The proposed controller and adaptive laws guarantee that the closed-loop system is stable in the sense of Lyapunov and the output tracks a desired trajectory asymptotically.

• 드라이브 ㆍ 컨트롤
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• 제19권1호
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• pp.51-61
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• 2022

This paper presents a model-free system based on a framework of a backstepping sliding mode control (BSMC) with a radial basis function neural network (RBFNN) and adaptive mechanism for electro-hydraulic systems (EHSs). First, an EHS mathematical model was dedicatedly derived to understand the system behavior. Based on the system structure, BSMC was employed to satisfy the output performance. Due to the highly nonlinear characteristics and the presence of parametric uncertainties, a model-free approximator based on an RBFNN was developed to compensate for the EHS dynamics, thus addressing the difficulty in the requirement of system information. Adaptive laws based on the actor-critic neural network (ACNN) were implemented to suppress the existing error in the approximation and satisfy system qualification. The stability of the closed-loop system was theoretically proven by the Lyapunov function. To evaluate the effectiveness of the proposed algorithm, proportional-integrated-derivative (PID) and improved PID with ACNN (ACPID), which are considered two complete model-free methods, and adaptive backstepping sliding mode control, considered an ideal model-based method with the same adaptive laws, were used as two benchmark control strategies in a comparative simulation. The simulated results validated the superiority of the proposed algorithm in achieving nearly the same performance as the ideal adaptive BSMC.