• Journal of Power Electronics
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• 제16권2호
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• pp.675-684
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• 2016

This paper presents a new stand-alone wind-based induction generator system with constant frequency and adjustable output voltage. The proposed generator consists of a six-phase cage-rotor induction machine with two separate three-phase balanced stator windings and a three-phase space vector pulse width modulation inverter that operates as a static synchronous compensator (STATCOM). The first stator winding is fed by the STATCOM and used to excite the machine while the second stator winding is connected to the generator external load. The main frequency of the STATCOM is determined to be constant and equal to the load-requested frequency. The generator output frequency is independent of the load power demand and its prime mover speed because the frequency of the induced emf in the second stator winding is the same as this constant frequency. A sliding mode control (SMC) is developed to regulate the generator output voltage. A second SMC is used to force the zero active power exchanged between the machine and the STATCOM. Some simulation and experimental results are presented to prove the validity and effectiveness of the proposed generator system.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.745-751
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• 2000

In this paper, the novel sliding durfaces are proposed by defining the virtual states. These sliding surfaces have the nominal dynamics of the original system and make it possible that the sliding Mode Control(SMC) technique is used with various types of controllers. Its design is based on the augmented system which additional dynamics as many as input numbers. The reaching phase is eliminated by using the initial virtual states which make the initial sliding functions equal to zero.

• 제어로봇시스템학회논문지
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• 제10권1호
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.425-428
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• 2004

In this paper, we study the discretization behaviors of the equivalent control based sliding-mode control (SMC) systems. The investigation is carried out via studying the second order linear system and some interesting dynamic properties are explored. Especially, according to the variation of system parameters, the inherent dynamical behavior of the trajectories within some specified boundaries are studied. From this result, the boundaries of system state using symbolic dynamics approach are first proposed. Simulations are presented to verify the theoretical results.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 추계학술대회
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• pp.186-194
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• 2003

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 fir 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2279-2284
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• 2005

Generally, biped walking is difficult to control because it is a nonlinear system with various uncertainties. In this paper, we design a robust control system based on sliding-mode control (SMC) of 5-link biped robot using the wavelet neural network(WNN), in order to improve the efficiency of position tracking performance of biped locomotion. In our control system, the WNN is utilized to estimate uncertain and nonlinear system parameters, where the weights of WNN are trained by adaptive laws that are induced from the Lyapunov stability theorem. Finally, the effectiveness of the proposed control system is verified by computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.553-556
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• 2005

A novel sufficient condition of discretized equivalent control based sliding mode controller (SMC) for a second-order system with external disturbance to be globally uniformly ultimately bounded (GUUB) is proposed. The proposed stability condition guarantees that the system state is always GUUB in the presence of disturbance. The ultimate bounds of the system state variables are also derived.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2319-2324
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• 2005

This paper proposes a intelligent gain and boundary layer based sliding mode control (SMC) method for robotic systems with unknown model uncertainties. For intelligent gain and boundary layer, we employ the self recurrent wavelet neural network (SRWNN) which has the properties such as a simple structure and fast convergence. In our control structure, the SRWNNs are used for estimating the width of boundary layer, uncertainty bound, and nonlinear terms of robotic systems. The adaptation laws for all parameters of SRWNNs and reconstruction error bounds are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with unknown uncertainties. Accordingly, the proposed method can overcome the chattering phenomena in the control effort and has the robustness regardless of unknown uncertainties. Finally, simulation results for the three-link manipulator, one of the robotic systems, are included to illustrate the effectiveness of the proposed method.

• Journal of Power Electronics
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• 제17권4호
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• pp.991-1003
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• 2017

The conventional sliding mode control (CSMC) has a number of problems. It may cause dc output voltage ripple and it cannot guarantee the robustness of the whole system for a matrix rectifier (MR). Furthermore, the existence of a filter can decrease the input power factor (IPF). Therefore, a novel global sliding mode control (GSMC) based on a hyperbolic tangent function with IPF compensation for MRs is proposed in this paper. Firstly, due to the reachability and existence of the sliding mode, the condition of the matrix rectifier's robustness and chattering elimination is derived. Secondly, a global switching function is designed and the determination of the transient operation status is given. Then a SMC compensation strategy based on a DQ transformation model is applied to compensate the decreasing IPF. Finally, simulations and experiments are carried out to verify the correctness and effectiveness of the control algorithm. The obtained results show that compared with CSMC, applying the proposed GSMC based on a hyperbolic tangent function for matrix rectifiers can achieve a ripple-free output voltage with a unity IPF. In addition, the rectifier has an excellent robust performance at all times.

• 한국정보기술학회 영문논문지
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• 제8권2호
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• pp.101-110
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• 2018

This paper introduces feedback linearization (FL) based adaptive sliding mode control (ASMC) effective against ground effects of the quadrotor UAV. The proposed control has the capability of estimation and effective rejection of those effects by adaptive mechanism, which resulting stable attitude and positioning of the quadrotor. As output variables of quadrotor, x-y-z position and yaw angle are chosen. Dynamic extension of the quadrotor dynamics is obtained for terms of roll and pitch control input to be appeared explicitly in x-y-z dynamics, and then linear feedback control including a ground effect is designed. A sliding mode control (SMC) is designed with a class of FL including higher derivative terms, sliding surfaces for which is designed as a class of integral type of resulting closed loop dynamics. The asymptotic stability of the overall system was assured, based on Lyapunov stability methods. It was evaluated through some simulation that attitude control capability is stable under excessive estimation error for unknown ground effect and initial attitude of roll, pitch, and yaw angle of $30^{\circ}$ in all. Effectiveness of the proposed method was shown for quadrotor system with ground effects.