• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1337-1338
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• 2015

In this paper, a new control technique using WIPDC(Weighted Integral Parallel Distributed Compensation) and ISMC(Integral Sliding Mode Control) is proposed for high performance and robust trajectory tracking control of a wheeled mobile robot. The WIPDC reduces the steady-state error by adding a weighted integral controller to the PDC. So, the trajectory tracking control using the WIPDC can obtain more accurate control performance than the PDC. And the ISMC based control input gives the mobile robot to preserve the system dynamics controlled by the WIPDC control input in spite of external disturbances. Therefore, the proposed control method shows a robust and precise trajectory tracking performance.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.155-163
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• 2023

Auto Guided Vehicle (AGV) equipped with mecanum wheels can move in all directions, unlike ordinary wheeled AGVs. In this paper, we propose a robust trejectory tracking control method for the mecanum wheeled AGVs in the presence of disturbances. It is constructed by combining impedance control with Integral Sliding Mode Control (ISMC), which shows robust performance against disturbances, and adding a disturbance observer (DOB) that estimates and removes disturbances. Simulation result using MATLAB/SIMULINK shows that the proposed control method has robust performance in tracking the reference trajectory under the circumstance with disturbance. The control performance is further improved when the disturbance observer is additionally used. In addition, the performance of the proposed control method was verified through experiment. It shows the result of tracking the set trajectory well.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.6
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• pp.1203-1211
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• 2017

This paper proposes a robust controller for flexible joint robots to achieve tracking performance and to improve robustness against both matched and mismatched disturbances. The proposed controller consists of a disturbance observer(DOB), passivity-based controller, and integral sliding mode controller(ISMC) in a backstepping manner. The DOB compensates the mismatched disturbance in the link-side and formulates the reference input for the motor-side controller. Interconnection and damping assignment passivity-based controller (IDA-PBC) performs tracking control of motor-side, and it is integrated to nominal control of ISMC to guarantee the over-all stability of the nominal system, while, matched disturbances are decoupled by the discontinuous control of ISMC. In the design of the link-side controller, PD type impedance controller is designed with DOB and this leads the continuous control input which is suitable to the reference input for the motor-side.

• The Korean Journal of Physiology and Pharmacology
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• v.8 no.6
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• pp.339-344
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• 2004

Recent data have shown the importance of oxidative stresses in the pathogenesis of inflammatory bowel disease, crohn's disease and ulcerative colitis. $H_2O_2$, reactive oxygen species (ROS) donor, has been reported to act as a signaling molecule involved in a variety of cellular functions such as apo/ptosis and proliferation. In the present study, we investigated viability of cultured ileal smooth muscle cells (ISMC) after stimulation with $H_2O_2$. Trypan blue method revealed that the cell viability of ISMC treated with 1 mM $H_2O_2$ was not different from that of controls at up to 2 h time point, while treatment of ISMC with 1 mM $H_2O_2$ for 48 h finally induced significant decrease in the cell viability. Therefore, we evaluated whether $H_2O_2$ was capable of ERKs activation in ISMC for the short-term exposure and examined whether tyrosine kinase was involved in the process of ERK activation by $H_2O_2$ in ISMC. We also investigated the effects of $H_2O_2$ on activation of SAPK/JNK and p38 MAP kinase in ISMC. Thus, ISMC were cultured and exposed to $H_2O_2$, and western blot analysis was performed with phosphospecific MAP kinase antibodies. Robust activation of ERK occurred within 30 min of 1 mM $H_2O_2$ treatment. $H_2O_2-induced$ ERK activation was attenuated by a tyrosine kinase inhibitor, genistein, indicating that tyrosine kinase was probably involved in the ERK activation by $H_2O_2$. $H_2O_2$ was a moderate activator of SAPK/JNK, while p38 MAP kinase was not activated by $H_2O_2$. We suggest that ERK activation induced by short-term $H_2O_2$ treatment plays a critical role in cellular protection in the early stage of response to oxidative stress. The present study suggests the necessity of identification of MAPK signaling pathways affected by ROS, since it could ultimately elucidate cellular consequences involved in initiation and perpetuation of intestinal tissue damage in the diseases such as crohn's disease and ulcerative colitis, resulted from excessive ROS.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.1
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• pp.173-179
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• 2017

This paper proposes a robust impedance controller for high-DOF robots. The model-based control of a higher DOF robot uses a numerical dynamic model because the analytical dynamic model is difficult to be derived and this means that modeling error is inevitable. The impedance control in the task space is affected by joint motions and has more difficulties in the higher DOF robots. In addition, the disturbances must be decoupled in the control of high DOF robot. This paper proposes a robust impedance controller based on integral sliding mode control (ISMC) and disturbance observer(DOB) for high-DOF robot manipulator. The ISMC is used to improve the robustness of the impedance control and to preserve its nominal performance. DOB is also employed to cancel the effects of input disturbances and to reduce the maximum gain of the ISMC which eventually determines the input chattering size.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.7
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• pp.1694-1704
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• 2015

In this paper, a robust trajectory tracking control method of a wheeled mobile robot is newly proposed combining the PDC and the ISMC. The PDC is a relatively simple and easy control method for nonlinear system compared to the other non-linear control methods. And the ISMC can have robust and stable control characteristics against model uncertainties and disturbances from the initial time by placing the states on the sliding plane with desired nominal dynamics. Therefore, the proposed PDC+ISMC trajectory tracking control method shows robust trajectory tracking performance in spite of external disturbance. The tracking performance of the proposed method is verified through simulations. Even though the disturbance increases, the proposed method keeps the performance of the PDC method when there is no disturbance. However, the PDC trajectory tracking control method has increasing tracking error unlike the proposed method when the disturbance increases.

• Journal of Power Electronics
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• v.7 no.2
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• pp.159-173
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• 2007

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.5
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• pp.379-386
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• 2021

This study was undertaken to develop a cascade-type continuous culture system (CCCS) that combines both ICT and biotechnology (BT), for the mass production of microalgae. This system is capable of maintaining the essential culture conditions of pH, temperature, carbon dioxide, and illuminance control, which are key parameters for the growth of microalgae, and is economical for producing microalgae regardless of the season or location. It has the added advantage of providing stable and high productivity. In the current study, this system was applied to culture microalgae for 71 days, with subsequent analysis of the experimental data. The initial O.D. of the culture measured from incubator 1 was 0.006. On the 71st day of culture, the O.D.s obtained were 0.399 (incubator 1), 0.961 (incubator 2), 0.795 (incubator 3), and 0.438 (incubator 4), thereby confirming the establishment of continuous culture. Thus, we present a smart-farm based on ISMC (in-situ monitoring and control) for a mass culture method. We believe that this developed technology is suitable for commercialization, and has the potential to be applied to hydroponics-based cultivation of microalgae and cultivation of high-value-added medicinal plants as well as other plants used in functional foods, cosmetics, and medical materials.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.3
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• pp.643-650
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• 2017

The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for the flexible joint robot by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition for disturbances. The dynamic model of flexible joint robot is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.2
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• pp.416-422
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• 2017

The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper.