• Title/Summary/Keyword: Sliding Algorithm

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Fuzzy-Sliding Mode Control for SCARA Robot Based on DSP (DSP를 이용한 스카라 로봇의 퍼지-슬라이딩 모드 제어)

  • Go, Seok-Jo;Lee, Min-Cheol
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.4
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    • pp.285-294
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    • 2000
  • This paper shows that the proposed fuzzy-sliding mode control algorithm for a SCARA robot could reduce the chattering due to sliding mode control and is robust against a change of payload and parameter uncertainties. That is, the chattering can be reduced by changing control input for compensating disturbances into a control input by fuzzy rules within a pre-determined dead zone. The experimental results show that the chattering can be reduced more effectively by the fuzzy-sliding mode control algorithm than the sliding mode control with two dead zones. It is proved experimentally that the proposed control algorithm is robust to a change of payload. The proposed control algorithm is implemented to the SCARA robot using a DSP(board) for high speed calculations.

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Sliding Mode Controller with Enhanced Performance Using Time-Varying Surface and Fuzzy Logic

  • Park, Chang-Woo;Park, Soon-Hyung;Park, Mignon
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 2000.05a
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    • pp.51-54
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    • 2000
  • In variable structure control algorithm, sliding mode makes the closed loop system insensitive to modelling uncertainties and external disturbances. However due to imperfections in switching, the system trajectory chatters, which is very undesirable. And the insensitivity property of a sliding mode controller is present only when the system is in the sliding mode. To overcome these shortcomings, in this paper, new sliding mode control algorithm using time-varying sliding surface and fuzzy PI structrue is proposed.

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A Robust Controller Design for Manipulators using Time-Varying Sliding Manifolds (시변 스위칭 평면을 이용한 로보트 매니퓰레이터의 견실한 제어기의 설계)

  • Park, Gwi-Tae;Kim, Dong-Sik;Lim, Sung-Jun
    • Proceedings of the KIEE Conference
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    • 1990.11a
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    • pp.391-395
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    • 1990
  • A new control algorithm is developed to achieve the robust performance of the system during the overall control process. Time-varying sliding manifolds are proposed to remove the reaching phase which is one of common shortcomings of variable structure control scheme. A necessary and sufficient condition for the existence of a sliding mode on the newly proposed time-varying sliding mode on the newly proposed time-varying sliding manifolds is derived by Lyapunov's second method. The digital simulation results show that the newly proposed control algorithm is superior to the typical variable structure control algorithm with respect to the robust performance of the system. The simplicity of the proposed control algorithm encourages control engineers to implement the proposed control algorithm in many control problems.

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A Study On The Trajectory Control of A SCARA Robot Using Sliding Mode (슬라이딩모드를 이용한 SCARA 로보트의 궤적제어에 관한 연구)

  • 이민철;진상영;이만형
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.19 no.1
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    • pp.99-110
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    • 1995
  • An industrial robot needs a simple and robust control algorithm obtaining high precision control performance in spite of disturbance and parameter's change. In this paper, for solving this problem, a new sliding mode control algorithm is proposed and applied to the trajectory control of a SCARA type robot. The proposed algorithm has diminished the chattering occurring in sliding mode by setting a dead band along the switching line on the phase plane. It shows that we can easily obtain a simple switching control input satisfying sliding mode in spite of regarding nonlinear terms of a manipulator and servo system as disturbance. A guideline for selection of dead-band width is determined by optimal value of cost function presenting magnitudes of chattering and error. By this algorithm, we can expect the high performance of the trajectory tracking of an industrial robot which needs a robust and simple algorithm.

Sliding Mode Control with Disturbance Observer for An Active Magnetic Bearing System (자기베어링계에서 외란 관측기를 갖는 슬라이딩모드 제어)

  • 강민식
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.53 no.6
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    • pp.408-414
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    • 2004
  • In this paper, a disturbance observer based sliding mode control is proposed to attenuate disturbance responses in an active magnetic bearing system, which is subject to base motion. An algorithm which decouples disturbance observation dynamics from sliding mode dynamics is suggested. This algorithm preserves the robustness of the sliding mode control and satisfies reachability condition in the presence of external disturbance and parameter uncertainties. Along with experimental results, it is shown that the proposed control is effective in disturbance rejection without any additive disturbance measurement.

Temperature control for a hot water heating circulating pump system using a nonlinear sliding surface (비선형 슬라이딩 면을 이용한 온수난방 순환펌프 시스템의 온도 제어)

  • Ahn, Byung-Cheon;Cang, Hyo-Whan
    • Journal of Institute of Control, Robotics and Systems
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    • v.3 no.2
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    • pp.162-168
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    • 1997
  • Digital variable structure controller(DVSC) is implemented to control the temperature for the hot water heating circulating pump control system. For the DVSC, a control algorithm is suggested, which using a nonlinear sliding surface and a PID sliding surface outside and inside of steady state error boundary layer, respectively. Smith predictor algorithm is used for the compensation of long dead time. The DVSC of the suggested algorithm yields improved control performance compared with the one of existing algorithm. The system responses with the suggested DVSC shows good responses without overshoot and steady state error inspite of heating load change. By decreasing sampling time, dead time and rise time are increasing, and system output noise by flow dynamics is amplified.

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Adaptive sliding mode control with self-tuning the boundary layer thickness (자기동조 경계층 범위를 갖는 적응 슬라이딩모드 제어)

  • Park, Jae-Sam
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.1
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    • pp.8-14
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    • 2000
  • In this paper, three adaptive sliding mode control algorithms, which self-tune both the sliding mode gain and the boundary layer thickness, are proposed. The first algorithm uses a gain adaptation rule is combined with the boundary layer thickness adaptatioin rule to satisfy the sliding condition. In the third algorithm, the computation burden of the second algorithm is reduced further, and therefore no extra cost is required for real-time implementation. Due to the mixed sliding mode gain and the boundary layer thickness adaptation scheme, the tracking error and the chattering of the control input can be reduced greatly.

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Fuzzy Moving Sliding Model Control for Robotic Manipulators (로봇 매니퓰레이터를 위한 퍼지 이동슬라이딩 모드 제어)

  • Chun, Kyung-Han;Park, Bong-Yeol
    • Journal of Institute of Control, Robotics and Systems
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    • v.7 no.7
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    • pp.597-604
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    • 2001
  • Recently, the study of the moving sliding mode in the variable structure control is in progress ac-tively. The conventional time-invariant sliding model control can\`t guarantee the sliding mode in the reaching phase, which is robust against the uncertainty. But with the time-varying method, the controller makes the states track the desired trajectories and keeps the sliding mode. Nevertheless, the piecewise continuous method of the past still has the reaching mode. Thus we propose the continuously moving sliding surface by the fuzzy algorithm. The proposed algorithm is made of the fuzzy rule considering both the error and the error velocity, and may apply to the entire phase plane without sacrificing sliding mode. Especially the proposed scheme can rotate tot he slope-decreasing direction, needless to say rotating to the slope-increasing direction. For showing that the proposed controller guarantees the sliding model and ensures the robustness, we apply the proposed method to the two-link robot manipulator simulation.

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fuzzy sliding controller design using genetic algorithm (유전 알고리즘을 이용한 퍼지 슬라이딩 제어기 설계)

  • 한종길;유병국;함운철
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.964-967
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    • 1996
  • In this paper, we present a fuzzy-sliding controller design using genetic algorithm. We can suppress chattering and enhance the robustness of controlled system by using this controller and do that genetic algorithm can easily find out a nearly optimal fuzzy rule performance of this controller is tested by simulation of car system with two pole.

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Power-line phase measurement algorithm based on the sliding-DFT (Sliding-DFT에 기반한 전력선 위상 측정 기법)

  • 안병선;김병일;장태규
    • Proceedings of the IEEK Conference
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    • 2003.07e
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    • pp.2192-2195
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    • 2003
  • This parer proposes a power-line phase measurement algorithm which is based on the recursive implementation of sliding-DFT. Usage of the single DFT coefficient in the conventional sliding-DFT based power-line phase measurement brings a significant error propagation when implemented in hardware with finite word-length arithmetic operations. The proposed algorithm utilizes all the N-point DFT coefficients in the recursion. Performance degradation caused by the finite word- length implementation of the algorithm is analyzed and verified with computer simulations. The robustness of the proposed phase measurement algorithm against the erroneous implementation is also confirmed by the performance analysis and simulation.

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