• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.10
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• pp.671-677
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• 2004

This paper presents the design of a now controller for the read/write head of a hard disk drive. The general controller for seeking is the time-optimal control. However if we use only the time optimal control law, this could be vulnerable to chattering effect. To solve this problem, we propose a modified controller design algorithm in this paper. The proposed controller consists of bang-bang control for seeking and sliding-mode control for tracking. Moreover, to test the robustness and stability of control system, a bounded disturbance is selected to maximize a severity index. Simulation results show the superiority of the proposed controller through comparison with time optimal VSC(variable structure control).

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.381-384
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• 2008

In this paper, we consider the problem of designing decentralized sliding mode static output feedback control laws for a class of large scale systems with mismatched uncertainties. We derive a sufficient condition for the existence of a linear switching surface in terms of constrained linear matrix inequalities(LMIs), and we parameterize the linear switching surfaces in terms of the solution matrices to the given constrained LMI existence conditions. We also give an LMI-based algorithm for designing decentralized switching feedback control laws. Finally, we give a design example in order to show the effectiveness of our method.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.652-657
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• 1992

This paper presents to accomplish successfully a multi-input real time control by applying control hierarchy for sliding mode of multi-joint manipulators whose nonlinear terms are regarded as disturbances. We- could simplify the dynamic equations of a manipulator and servo system, which are composed of linear elements and nonlinear elements, by assuming that nonlinear terms, which are Inertia term, gravity force term, Coriolis force term and centrifugal force term, are external disturbance. By simplifying that equation, we could easily obtain a control input which satisfy sliding mode of multi-input system. We proposed a new control input algorithm in order to decrease chattering by changing control input according as effect of disturbance if a control response become within allowance error range. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by time delay of calculation and to carry out real time control.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.7 s.100
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• pp.878-884
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• 2005

This paper presents an algorithm for the precision motion control based on the dynamic characteristics of piezoelectric actuators in the inchworm. The dynamic characteristics are identified by the frequency domain modeling technique using the experimental data. For the motion control, the hysteresis behavior is compensated by the inverse hysteresis model. The dynamic stiffness of an inchworm is generally low compared to its driving condition, so mechanical vibration may degenerate the motion accuracy of the inchworm. The Sliding mode controller and the Kalman filter are designed for motion control of the inch-worm.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.5
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• pp.145-153
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• 2000

This paper discusses the dynamic modeling and robust control development for a differentially steered mobile robot subject to wheel slip according to high load. Consideration of wheel slip is crucial for high load applications such as construction automation tasks because wheel slip acts as a severe disturbance to the system. It is shown that the uncertainty terms due to the wheel slip satisfy the matching condition for the sliding mode control design. From the full dynamic model of the mobile robot, a reduced ideal model is extracted to facilitate the control design. The sliding mode control method ensures the dynamic tracking performance for such a mobile robot. Numerical simulation shows the promise of the developed algorithm.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.31A no.4
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• pp.39-46
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• 1994

In this paper, the idea of using a multiple symbol obervation interval to improve error probability performance is applied to differential detection of MTCM(multiple trellis code modulation) with ${\Pi}$/4 shift QPSK, 8DPSK and 16DPSK. We propose two types of sliding multiple symbol differential detection algorithm, type 1 and type 2. The two types of sliding detection scheme are examined and compared with conventional(symbol-by-symbol) detection and bolck detection with these modulation formats in an additive white Gaussian noise(AWGN) using the Monte Carlo simulation. We show that the amount of improvement over conventional and block detection depends on the number of phases and the number of additional symbol intervals added to the observation. Computer simulagtion results are presented for 2,4,8 states in AWGN channel.

• Proceedings of the KIEE Conference
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• 2004.04a
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• pp.126-128
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• 2004

This paper investigates an improved sliding mode observer for the speed sensorless control of a permanent magnet synchronous motor. The proposed control strategy is the sliding mode observer with a variable boundary layer for a low-chattering and fast-response control. The proposed algorithm is verified through the simulation and experimentation.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.458-463
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• 2000

This paper presents a design of the controller for vehicle lateral dynamics using active yaw moment. Vehicle lateral motion is incorporated with directional controllability and stability. These are conflicting each other from the view of vehicle handling performance. To compromise the trade-off between these two aspects, we suggest a new control algorithm based on the sliding mode with time-varying switching surface according to the body side slip angle. The controller can deal with the nonlinear region in vehicle driving and be robust to the parameter uncertainties in the plant model. Control performance was evaluated from the simulation.

• Proceedings of the KIPE Conference
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• 2006.06a
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• pp.485-487
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• 2006

Speed and torque controls of permanent magnet synchronous motors are usually attained by the application of position and speed sensors. However, speed and position sensors require the additional mounting space, reduce the reliability in harsh environments and increase the cost of a motor. Therefore, many studies have been performed for the elimination of speed and position sensors. This paper investigates an Improved sliding mode observer for the speed sensorless control of a permanent magnet synchronous motor. The proposed control strategy is the sliding mode observer with a variable boundary layer for a low-chattering and fast-reponse control. The proposed algorithm is verified through the simulation and experimentation.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.501-501
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• 2000

In this paper, the theoretical development to stabilize a class of uncertain time-delay systems via sliding mode control is presented. The system under consideration is described in state space model containing state delay, uncertain parameters and disturbance. The main idea is to reduce the state of delayed system, by employing the generalize linear transformation, into an equivalent one with no delay inside, which is easier to analyze its behavior and stability. Then, the sliding control approach is employed to find the stabilizing control law. Finally, a numerical simulation is illustrated to show the algorithm for applying the proposed theorems and the efffetiveness of the designed control law in stabilizing the controlled systems.