• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.658-660
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• 1995

This paper presents a performance analysis of the multiple sliding mode control for SISO system. The multiple sliding mode control technique uses sliding surfaces for each state. The performance analysis is done by comparison between the multiple sliding mode control and the sliding mode control. Overall performance of the multiple sliding mode control is improved over that of the sliding mode control. Results of numerical simulations are presented.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2393-2405
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• 2015

This paper considers a decentralized multiple faults detection and isolation (FDI) scheme for reconfigurable manipulators. Inspired by their modularization property, a global sliding mode (GSM) based stable adaptive fuzzy decentralized controller is investigated for the system in fault free, while for the system suffering from multiple faults (actuator fault and sensor fault), the decentralized sliding mode observer (DSMO) is employed to detect their occurrence. Hereafter, the time and location of faults can be determined by a fault isolation scheme via a bank of DSMOs. Finally, the effectiveness of the proposed schemes in controlling, detecting and isolating faults is illustrated by the simulations of two 3-DOF reconfigurable manipulators with different configurations successfully.

• ETRI Journal
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• v.38 no.5
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• pp.1008-1018
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• 2016

This paper presents a control scheme for the leader-following formation of multiple robots. The control scheme combines the sliding mode control (SMC) method with the nonlinear disturbance observer (NDOB) technique. The formation dynamics suffer from uncertainties because the individual robots are uncertain. Concerning such formation uncertainties, the leader-following formation dynamics are modeled. Assuming that the formation uncertainties have an unknown boundary, an NDOB-based observer was designed to estimate the formation uncertainties. A sliding surface containing the observer outputs has been defined. Regarding the sliding surface, an SMC-based controller was investigated to form uncertain robots. A sufficient condition in the sense of the Lyapunov theory was proven such that the formation system is asymptotically stable. Herein, some comparison results between the sole SMC method and the second-order SMC method are presented to demonstrate the effectiveness and feasibility of the control scheme for multiple robots in the presence of uncertainties.

• Journal of Advanced Information Technology and Convergence
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• v.9 no.2
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• pp.1-14
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• 2019

This paper considers a multiple-input multiple-output (MIMO) power line communication (PLC) network where interference alignment (IA) technique is used to mitigate the interference that arises in multi-user networks. IA as a precoding technique requires perfect channel state information (CSI) to achieve maximum multiplexing gain. Due to the common-mode reception at the receiver ports, we assume imperfect CSI for the IA precoding design. Here, the CSI is quantized and sent via feedback to the transmit ports. For different levels of CSI quantization, we evaluate the performance of various IA algorithms via Monte Carlo simulations. Simulation results reveal the superior performance of the proposed scheme due to common-mode reception in IA MIMO PLC networks. It is shown that for a quantization level of 5 bits, the CM reception improves the sum-rate by up to 70%.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.355-355
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• 2000

The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a 개bot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Smart Structures and Systems
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• v.2 no.1
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• pp.1-24
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• 2006

The optimal design of multiple tuned mass dampers (multiple TMD's) to suppress multi-mode structural response of beams and floor structures was investigated. A new method using a numerical optimizer, which can effectively handle a large number of design variables, was employed to search for both optimal placement and tuning of TMD's for these structures under wide-band loading. The first design problem considered was vibration control of a simple beam using 10 TMD's. The results confirmed that for structures with widelyspaced natural frequencies, multiple TMD's can be adequately designed by treating each structural vibration mode as an equivalent SDOF system. Next, the control of a beam structure with two closely-spaced natural frequencies was investigated. The results showed that the most effective multiple TMD's have their natural frequencies distributed over a range covering the two controlled structural frequencies and have low damping ratios. Moreover, a single TMD can also be made effective in controlling two modes with closely spaced frequencies by a newly identified control mechanism, but the effectiveness can be greatly impaired when the loading position changes. Finally, a realistic problem of a large floor structure with 5 closely spaced frequencies was presented. The acceleration responses at 5 positions on the floor excited by 3 wide-band forces were simultaneously suppressed using 10 TMD's. The obtained multiple TMD's were shown to be very effective and robust.

• Journal of Electrical Engineering and Technology
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• v.7 no.4
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• pp.459-467
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• 2012

In this paper, a grid connected microgrid with multiple inverter-based distributed generators (DGs) is considered. DG in FFC mode regulates the microgrid as a controllable load from the utility point of view as long as its output is within the capacity limit. The transition mode causes a change in frequency of microgrid due to the loss of power transferred between main grid and microgrid. Frequency deviation from the nominal value can exceed the limit if the loss of power is large enough. This paper presents a coordinated control method for inverter-based DGs so that the microgrid is always regulated as a constant load from the utility viewpoint during grid connected mode, and the frequency deviation in the transition mode is minimized. DGs can share the load by changing their control modes between UPC and FFC and stabilize microgrid during transition.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.202-207
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• 2002

This paper deals with a novel shunted actuator, which has a capability to suppress multi-mode vibration amplitudes by using a pair of piezoceramic patches. In order to describe the characteristic behaviors of shunted dampers connected with a series and a parallel resistor-negative capacitive branch circuit, the stiffness ratio and loss factor with respect to the non-dimensional frequency are considered. To obtain a guideline model of a piezo/beam system connected with a series and a parallel resistor-negative capacitor branch circuit, the governing equations of motion is derived through Hamiltons principle and a piezo sensor equation as well as a shunt damping matrix is developed. The theoretical analysis shows that the shunted actuator developed in this study can significantly reduce multiple-mode vibration amplitudes simultaneously over the whole structural frequency range.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.559-566
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• 2006

In the real system application, the interacting multiple model (IMM) based algorithm requires less computing resources as well as a good performance with respect to the various target maneuverings. And it further requires an easy design procedure in terms of its structures and parameters. To solve these problems, a fuzzy interacting multiple model (FIMM) algorithm, which is based on the basis sub-models defined by considering the maneuvering property and the time-varying mode transition probabilities designed by using the mode probabilities as inputs of a fuzzy decision maker, is proposed. To verify the performance of the proposed algorithm, airborne target tracking is performed. Simulation results show that the FIMM algorithm solves all problems in the real system application of the IMM based algorithm.

• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.4
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• pp.307-316
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• 2001

In this paper, the multiple output forward converter forPC power supply with weighted voltage mode control which improves the characteristics of DC and transient responses is analyzed and designed. The power stage model of this converter including all the major parasitic components is derived and the small signal model is also derived. Determination of the weighting factors and a design procedure for the loop compensation are presented. Finally, the proposed controller is verified through the simulation of three output forward converter with SABER, and the experiment.