• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.11
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• pp.5143-5149
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• 2011

In this paper, using the adaptive sliding mode observer for speed sensorless vector control is proposed. Adaptive sliding mode observer of the motor stator coordinate system using the voltage equations of the rotor flux components are observed. Motor speed was obtained by the Lyapunov function is estimated by the relationship further. In order to establish such a control scheme based on the way conventional PI controller and sliding mode observer annexing characteristics of the system through simulation and experiment were compared. According to analysis by comparison with the usefulness of the system was confirmed.

• Journal of Power Electronics
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• v.15 no.3
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• pp.741-752
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• 2015

This study proposes a new solution for the parallel operation of microgrid inverters in terms of circuit topology and control structure. A combined three-phase four-wire inverter composed of three single-phase full-bridge circuits is adopted. Moreover, the control structure is based on adaptive three-order sliding-mode control and wireless load-sharing control. The significant contributions are as follows. 1) Adaptive sliding-mode control performance in inner voltage loop can effectively reject both voltage and load disturbances. 2) Virtual resistive-output-impedance loop is applied in intermediate loop to achieve excellent power-sharing accuracy, and load power can be shared proportionally to the power rating of the inverter when loads are unbalanced or nonlinear. 3) Transient droop terms are added to the conventional power outer loop to improve dynamic response and disturbance rejection performance. Finally, theoretical analysis and test results are presented to validate the effectiveness of the proposed control scheme.

• Proceedings of the KIEE Conference
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• 2000.11d
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• pp.689-693
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• 2000

In this paper, we proposed a decoupled adaptive fuzzy sliding-mode control scheme in designing the SMC of a class of fourth-order nonlinear systems. These systems are decoupled the whole system into two second-order systems such that each subsystem has a separate control target expressed in terms of a sliding surface. Then, information from the secondary target conditions the main target, which, in turn, generates a control action to make both subsystem move toward their sliding surface. respectively, and Two sets of fuzzy rule bases are utilized to represent the equivalent control input with unknown system functions of the main target, The membership functions of the THEN-part. which is used to construct a suitable equivalent control of SMC. are changed according to adaptive law, Under this design scheme, we not only maintain the distribution of membership functions over state space but also reduce considerably computing time, we apply the decoupled adaptive sliding-mode control to control a nonlinear inverted pendulum system and confirms the validity of the proposed approach.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.2
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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.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.168-180
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• 2018

In order to achieve the high quality output voltage of single-phase voltage source inverters, in this paper an Adaptive Complementary Sliding Mode Control (ACSMC) is proposed. Firstly, the dynamics model of the single-phase inverter with lumped uncertainty including parameter variations and external disturbances is derived. Then, the conventional Sliding Mode Control (SMC) and Complementary Sliding Mode Control (CSMC) are introduced separately. However, when system parameters vary or external disturbance occurs, the controlling performance such as tracking error, response speed et al. always could not satisfy the requirements based on the SMC and CSMC methods. Consequently, an ACSMC is developed. The ACSMC is composed of a CSMC term, a compensating control term and a filter parameters estimator. The compensating control term is applied to compensate for the system uncertainties, the filter parameters estimator is used for on-line LC parameter estimation by the proposed adaptive law. The adaptive law is derived using the Lyapunov theorem to guarantee the closed-loop stability. In order to decrease the control system cost, an inductor current estimator is developed. Finally, the effectiveness of the proposed controller is validated through Matlab/Simulink and experiments on a prototype single-phase inverter test bed with a TMS320LF28335 DSP. The simulation and experimental results show that compared to the conventional SMC and CSMC, the proposed ACSMC control strategy achieves more excellent performance such as fast transient response, small steady-state error, and low total harmonic distortion no matter under load step change, nonlinear load with inductor parameter variation or external disturbance.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.22-29
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• 2004

This paper studies the coordinated trajectory control of an excavator as a kind of robotic manipulators driven by hydraulic actuators. Hydraulic robot system has many non-linearity in dynamics and kinematics, and strong coupling among joints(or hydraulic cylinders). This paper proposes a combined controller frame of the adaptive robust control(ARC) and the sliding mode control(SMC) for the trajectory tracking control of the excavator to preserve the advantages of the both methods while overcoming their drawbacks, namely, asymptotic stability of adaptive system for parametric uncertainties and guaranteed transient performance of sliding mode control for both parametric uncertainties and external disturbance. The suggested control technique is applied for the tracking of a straight-line motion of end-effector of manipulators, and through computer simulations, its trajectory tracking performances and the robustness to payload variation and uncertainties are illustrated.

• Journal of Power Electronics
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• v.14 no.4
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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.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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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.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.12
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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.

• Journal of the Institute of Convergence Signal Processing
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• v.23 no.4
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• pp.185-193
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• 2022

This paper proposes an adaptive sliding mode control with radial basis function neural network(RBFNN) scheme to enhance the performance of position and attitude tracking control of quadrotor UAV. The RBFNN is utilized on the approximation of nonlinear function in the UAV dynmic model and the weights of the RBFNN are adjusted online according to adaptive law from the Lyapunov stability analysis to ensure the state hitting the sliding surface and sliding along it. In order to compensate the network approximation error and eliminate the existing chattering problems, the sliding mode control term is adjusted by adaptive laws, which can enhance the robust performance of the system. The simulation results of the proposed control method confirm the effectiveness of the proposed controller which applied for a nonlinear quadrotor UAV is presented. Form the results, it's shown that the developed control system is achieved satisfactory control performance and robustness.