• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2759-2761
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• 2001

Sliding mode is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances. But there ane problems in sliding mode controller. Hard in modeling system parameters, chattering, etc. In this paper, new sliding controller design method is proposed for solving the above problems using fuzzy sliding mode contros(FSMC) scheme are considered. we propose that fuzzy logic system are used to approximate unknown system functions in desinging the SMC of Inverted Pendulum. In the method, a fuzzy logic system is utilized to approximate the unknown function f of the nonlinear system. As a simulation result of applying the inverted pendulum, the sliding controller shows good robust characteristics.

• Journal of the Korean Society of Safety
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• v.35 no.1
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• pp.53-61
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• 2020

This study proposes a new damper configuration for seismic performance improvement of heavy sliding facilities inside a building. For this purpose, we deal with two connection types of control system, and the parametric study has been performed to investigate their comparative seismic performances according to the variations of the control capacity. In order to simulate the seismic responses of the proposed system, we employed a recently-developed seismic response analysis method that can deal with the two-mass system with nonlinear frictional sliding behavior. The numerical results demonstrate that the typical method of diagonal bracing damper connection can exhibit effective control performance both on structure and the heavy sliding facilities, whereas the structure-facilities connection method does not show any control effect on both responses. On the other hand, the typical method has some limitations that it can adversely cause excessive sliding of the facilities, depending upon the frequency characteristics of structure and earthquake. On the contrary, the structure-facilities connection method is very effective in reducing the sliding displacement of the heavy facilities, even with small amount of control capacity. Thus, the following potential expectations can be inferred from these results: The typical diagonal bracing damper connection method will have some promising benefits in controlling the sliding facilities inside the building as well as the building itself, and the structure-facilities connection method can be a cost-effective way of protecting the internal heavy important facilities inside the structure already designed with sufficient seismic performance.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.17 no.4
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• pp.213-220
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• 2005

An approach to calculate expected sliding distance of wave dissipating caisson breakwater is proposed. Time history of dynamic wave pressure for the calculation of sliding distance is made by extending conventional static wave pressure developed for the wave dissipating caisson breakwater. Construction of impact wave and standing wave was done by using duration time and maximum wave pressures of themselves. In the numerical analysis, the sliding distance for an attack of single wave and expected sliding distance for 50 years of wave dissipating breakwater by proposed method were compared with those by conventional method for uplift caisson breakwater. It was found that the sliding distance of wave dissipating breakwater by the proposed method is smaller than by conventional method.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.8
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• pp.812-817
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• 2009

In this paper, a new method to design sliding surfaces using eigenstructure assignment is proposed. Most conventional methods for constructing the surfaces require special form like canonical or regular canonical form of system matrices. But the proposed method can be applied to arbitrary system matrices. Futhermore, the surface matrix, C can be decided for the matrix multiplication, CB to have a designated form. SVD is used to decide desirable eigenvectors explicitly. To verify the proposed algorithm, a sliding mode controller for a multivariable system with matched uncertainty is constructed. The controller is designed to guarantee minimum approach velocity to the sliding surface.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.265-270
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• 1998

In this paper we introduce a modeling of wheeled mobile robot with a differential drive derived by R.M. DeSantis and using the dynamics model-ing with some disturbance term we control the wheeled mobile robot using fuzzy sliding mode control(FSMC) method. In a fuzzy control approach it is very difficult to prove the stability of the fuzzy controller. Therefore, to overcome that difficult proof of the stability in a fuzzy control method, we first propose a sliding mode controller and prove the stability of the proposed controller. Next, transforming the proposed sliding mode controller into a fuzzy sliding mode controller without changing the basic structure of the sliding mode con-troller, we easily obtain a fuzzy sliding mode con-troller(FSMC) whose stability is guaranteed with-out difficult stability proof procedure of the proposed FSMC.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.7
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• pp.615-620
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• 2001

This paper addresses the design of sliding model fuzzy-model-based controller using genetic algorithms. In general, the construction of fuzzy logic controllers has difficulties for the lack of systematic design procedure. To release this difficulties, the sliding model fuzzy-model-based controllers was presented by authors. In this proposed method, the fuzzy model, which represents the local dynamic behavior of the given nonlinear system, is utilized to construct the controller. The overall controller consists of the local compensators which compensate the local dynamic linear model and the feed-forward controller which is designed via sliding mode control theory. Although, the stability and the performance is guaranteed by the proposed method, some design parameters have to be chosen by the designer manually. This problem can be solved by using genetic algorithms. The proposed method tunes the parameters of the controller, by which the reasonable accuracy and the control effort is achieved. The validity and the efficiency of the proposed method are verified through simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.9
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• pp.664-668
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• 2003

A new sliding mode control method based on the lower bound of control gain is presented. Although the magnitube of the proposed control input is larger than that of the conventional control input using both lower and upper bounds, the positive-negative exchanging chattering is reduced and reaching mode is shorter. Because the proposed scheme needs only the lower bound of control gain, it is applicable to the system whose upper bound of control gain is doubtful to determine such as the control gain depends on the system states. It is proved that the proposed control method guarantees the sliding condition. The analysis of differences between the conventional method and the proposed method is given. The validity of the proposed control strategy is shown through a 2nd-order nonlinear system example.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2003.04a
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• pp.477-484
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• 2003

Recently, sliding mode control(SMC) method has been investigated for control of building structures under earthquake loadings. SMC keeps responses of a structure in sliding surface while the structure is stable. This control method uses both linear controller and nonlinear controller such as bang-bang controller. This paper presents vibration control of a structure using saturated sliding mode controller, whose maximum conrtol force is limited. The effectiveness of SMC method with controler saturation is investigated based on two performance evaluation criteria: root mean square(RMS) and maximum values of floor drifts and accelerations. Simulation results indicate that SMC method is effective in reduction of displacement and acceleration utilizing the saturated controller's capacity efficiently.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.2
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• pp.175-184
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• 1996

In this paper the newly developed discrete-time adaptive sliding mode control method is proposed and applied to the power system stabilization problem. In contrast to the conventional continuous-time sliding mode controller, the proposed method is developed in the discrete-time domain and based on the input/output measurements instead of the continuous-time and the full-states feedback, respectively. Because the proposed control method has the adaptivity property in addition to the natural robustness property of the sliding mode control, it is possible to design the power system stabilizer which can overcome both the minor variations of the parameters of the power system and the diverse operating conditions and faults of the power system. Mathematical proof and the various computer simulations are done to verify the performance and stability of the proposed method.

• International Journal of Aeronautical and Space Sciences
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• v.4 no.1
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• pp.1-8
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• 2003

In this paper, a reconfigurable flight control system is designed by applying the sliding mode control scheme. The sliding mode control method is a nonlinear control method which has been widely used because of its merits such as robustness and flexibility. In the sliding mode controller design, the signum function is usually included, but it causes the undesirable chattering problem. The chattering phenomenon can be avoided by using the saturation function instead of signum function. However, the boundary layer of the sliding surface should be carefully treated because of the use of the saturation function. In contrast to the conventional approaches, the thickness of the boundary layer of our approach does not need to be small. The reachability to the boundary layer is guaranteed by the sliding mode controller. The fault detection and isolation process is operated based on a sliding mode observer. To evaluate the reconfiguration performance, a numerical simulation using six degree-of-freedom aircraft dynamics is performed.