• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.332-332
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• 2000

In this paper, a novel sliding mode control with uncertainty adaptation is produced by introducing a virtual state. Because upper bounds of the uncertainty is difficult to know, we estimate these upper bound by using the simple adaptation law and design the novel sliding mode controller. The nominal controller is used the optimal controller to minimize cost function.

• Journal of Electrical Engineering and information Science
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• v.3 no.2
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• pp.193-201
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• 1998

In this paper, the standard Dole, Glover, Khargoneker, and Francis (abbr. : DGKF 1989) H\ulcorner controller (H\ulcornerC) is extended to the nonlinear feedback linearization-H\ulcorner/sliding mode controller (NFL-H\ulcorner/SMC), to tackle the problem of the unmeasurable state variables as in the conventional SMC, to obtain smooth control as the linearized controller in a linear system, and to improve the time-domain performance under a worst scenario. The proposed controller is obtained by combining the H\ulcorner estimator with the nonlinear feedback linearization-sliding mode controller (NFL-SMC) and it does not need to measure all the state variables as in the traditional SMC. The proposed controller is applied as a nonlinear power system stabilizer (PSS) for the improvement of the power system damping characteristics of an single machine infinite bus system (SMIBS) connected through a double circuit line. The effectiveness of the proposed controller is verified by nonlinear time-domain simulation in case of a 3-cycle line-to-ground fault and in case of the parameter variations for the AVR gain K\ulcorner and for the inertia moment M.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.866-873
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• 2000

Sliding mode control(SMC) incorporated with perturbation compensation is developed here to reduce the low-frequency tracking error in the presence of wide-band frequency perturbations for a nonlinear dynamic system. The control scheme is designed for estimation of low frequency perturbations with employment of the Time Delay Control and low-pass filter. It is shown that the SMC with perturbation compensation is far superior to the conventional SMC in tracking control of the dynamic systems under model uncertainties and external disturbance conditions.

• Journal of the Korea institute for structural maintenance and inspection
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• v.15 no.1
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• pp.235-242
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• 2011

The control performance in active structural control system can be drastically deteriorated when the modeling errors and the uncertainties existing in the disturbances are disregarded in the designing stage. It can even throw the control system into an unstable phase, resulting in out of control against the seismic excitations. The purpose of the study is to investigate the control effectiveness of a non-linear control system called sliding mode controller(SMC) in cooperation with a Tuned Mass Damper subjected to the three seismic excitations selected from the FFT analysis. Even though the transient performance such as settling time and overshoot were deteriorated, the robustness against the system stability was appeared from SMC when the structural masses and stiffness perturbed within the range of ${\pm}30%$. SMC is a feasible technique for active structural control in cooperation with TMD against seismic disturbances, exhibiting robustness in perturbation of system stiffness and mass as well as uncertainties of the disturbances.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.10
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• pp.165-171
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• 1998

An axial electromagnetic levitation system using attractive force is a highly nonlinear system due to the nonlinearity of materials, variable air gap and flux density. To control the levitating system with large air gap, a conventional PID control based on the linear model is not satisfactory to obtain the desired performance and the position tracking control of the sinusoidal motion by simulation results. Thus, sliding mode control(SMC) based on the input-output linearization is suggested and evaluated by simulation and experimental approaches. Usefulness of the SMC to this system is conformed experimentally. If the expected variation of added mass can be included in the gain conditions and the model, the position control performance of the electromagnetic levitation system with large air gap will be improved with robustness.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.168-180
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• 2018

In order to achieve the high quality output voltage of single-phase voltage source inverters, in this paper an Adaptive Complementary Sliding Mode Control (ACSMC) is proposed. Firstly, the dynamics model of the single-phase inverter with lumped uncertainty including parameter variations and external disturbances is derived. Then, the conventional Sliding Mode Control (SMC) and Complementary Sliding Mode Control (CSMC) are introduced separately. However, when system parameters vary or external disturbance occurs, the controlling performance such as tracking error, response speed et al. always could not satisfy the requirements based on the SMC and CSMC methods. Consequently, an ACSMC is developed. The ACSMC is composed of a CSMC term, a compensating control term and a filter parameters estimator. The compensating control term is applied to compensate for the system uncertainties, the filter parameters estimator is used for on-line LC parameter estimation by the proposed adaptive law. The adaptive law is derived using the Lyapunov theorem to guarantee the closed-loop stability. In order to decrease the control system cost, an inductor current estimator is developed. Finally, the effectiveness of the proposed controller is validated through Matlab/Simulink and experiments on a prototype single-phase inverter test bed with a TMS320LF28335 DSP. The simulation and experimental results show that compared to the conventional SMC and CSMC, the proposed ACSMC control strategy achieves more excellent performance such as fast transient response, small steady-state error, and low total harmonic distortion no matter under load step change, nonlinear load with inductor parameter variation or external disturbance.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.5
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• pp.393-398
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• 2001

This paper presents a new method with time-varying boundary layer and input gain, variated by Fuzzy Logic Control(FLC) by means of the system state in Sliding Mode Control (SMC). In addition to the time-varying boundary layer, the time-varying range of the fuzzy membership function has an effect on not only chattering reduction but also fast response characteristics. On the basis of SMC with time-varying boundary and FLC with time-varying input and output range, a computer simulation for inverted pendulum results in elimination of the chattering phenomenon and fast response.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 1997.11a
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• pp.463-471
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• 1997

In this paper, a new variable structure controller (VSC) is presented. The presented VSC can be applicable to most mechatronic systems such as robotics. A VSC (or also called sliding mode control；SMC) algorithm is presented first, and next, a VSC with nonlinear integral control algorithms is presented. The algorithms use no linear approximation for the derivation of the control law or in the stability proof. It is shown that the robustness of the developed algorithms are guaranteed by the sliding mode control and that the algorithms are globally convergent.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.801-806
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• 2015

In this paper, we propose cascade-form velocity controller for a permanent magnet synchronous motor (PMSM). The proposed controller consists of a sliding-mode controller (SMC) for the inner current control loop and a model-predictive controller (MPC) for the outer velocity control loop. With SMC, we can ensure that the current tracking error always converges to zero in finite time. The SMC is designed to track the desired currents. Additionally, with MPC, we can obtain the optimal velocity control input which minimizes the cost function. Constraint conditions for input and input variation are included in the MPC design. The simulation results are included to validate the performance of the proposed controller.

• Journal of Aerospace System Engineering
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• v.14 no.2
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• pp.20-27
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• 2020

Several uncertainties in the landing environment of an aircraft are not considered, such as the falling speed, ambient temperature, and sensor noise. These uncertainties negatively affect the performance of the controller applied to a landing gear. The sliding mode control (SMC) method, which maintains the optimal performance of a controller under uncertainties, is used in this study. The landing gear is equipped with a magnetorheological damper that changes the yield shear stress according to the applied magnetic field. The applied controller employs a hybrid control combining Skyhook control and force control. The SMC maintains the optimal performance of the hybrid control by minimizing the tracking error of the damper force, even in various landing environments where parameter uncertainties are applied. The effect of SMC is verified through co-simulation results from Simscape and Simulink.