• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 C
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• pp.979-981
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• 1998

This paper presents a stability proof for the nonlinear feedback linearization-observer/sliding mode model following controller (NFL-O/SMMFC). The separation principle is derived, and the closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 C
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• pp.988-990
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• 1998

This paper presents the stability proof of a nonlinear feedback linearization-reduced order observer-based sliding mode controller (NFL-ROO-based SMC). The closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 C
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• pp.991-993
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• 1998

This paper presents a stability proof for the nonlinear feedback linearization-observer-based sliding mode model following controller (NFL-O-based SMMFC). The closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.

• 제어로봇시스템학회논문지
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• 제18권7호
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• pp.669-672
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• 2012

This paper investigates an algorithm for robust fault diagnosis in robot manipulators. The TOSM (Third Order Sliding Mode observer) provides both theoretically exact observation and unknown fault identification without filtration. The EOI (Equivalent Output Injections) of the TOSM observers can be used as residuals for the problem of fault diagnosis and to identify the unknown faults. The obtained fault information can be used for fault detection, isolation as well as fault accommodation to the self-correcting failure system. The computer simulation results for a PUMA 560 robot are shown to verify the effectiveness of the proposed strategy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1924-1929
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• 1991

The conventional sliding mode control and variable structure control (VSC) of nonlinear uncertain system are well known for their robust property and simplity of control law. However, the use of them is only pardonable on the assumption that the upper-bound of parameter variation or nonlinearity is known and that the complete information about state is available. Though the former has been solved with adaptive robust control theory recently, the latter seems not to be solved. In this paper, we try to solve this problem using the technique of VSS adaptive robust control theory. That is, we propose a VSS adaptive observer and a sliding mode control incorporated with this observer. We can prove the robust stability of the closed system applying the Lyapunov's second method.

• 대한기계학회논문집A
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• 제26권2호
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• pp.243-253
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• 2002

This paper presents the system modeling, analysis, and controller design and implementation for a rotational inverted pendulum system(RIPS), which is an under-actuated system and has the problem of unattainable angular velocity state. A sliding mode controller using the parameterization of both the hyperplane and the compensator fur output feedback is applied to the RIPS. Also, to improve the performance of the control system, a disturbance observer which estimates the disturbance, parameter variation, and some modeling errors of RIPS with less computational effort is used together. The results of simulation and experiment show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions.

• Journal of Mechanical Science and Technology
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• 제17권10호
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• pp.1466-1474
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• 2003

This paper presents a system modeling, controller design and implementation for a rotational inverted pendulum system (RIPS), which is an under-actuated system and has the problem of unattainable velocity state. Two control strategies are applied to the RIPS. One is a sliding mode control method using the parameterization of both the hyperplane and the compensator for output feedback. The other is the disturbance observer which estimates disturbance and some modeling errors of RIPS with less computational effort. Some simulations and various kinds of experiments are performed in order to verify that the proposed controller has the ability to control RIPS whose velocity is assumed to be unavailable. The results of the simulations and experiments show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions as well as the robustness to model uncertainties.

• 한국자동차공학회논문집
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• 제11권5호
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• pp.43-49
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• 2003

The common-rail fuel injection system is becoming a common technology for High Speed Direct Injection(HSDI) diesel engines. The injection timing and rate are important factors for combustion control and pollutants formation mechanisms during engine operation. This paper introduces an estimation methodology of the injection timing and rate of a common-rail injector for HSDI diesel engines. A sliding mode observer that is based on the nonlinear mathematical model of the common-rail injector is designed to overcome the model uncertainties. The injector model and the estimator we verified by relevant injection experiments in an injector test bench. The simulation and the experimental results show that the proposed sliding mode observer can effectively estimate the injection rate of the common-rail injector.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 춘계학술대회 논문집 전기설비전문위원
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• pp.74-76
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• 2009

In this paper, search method and sliding mode observer are developed for efficiency optimization of induction motor. The proposed control scheme consists of efficiency controller and adaptive backstepping controller. A search controller for which information of input of fuzzy controller is included in efficiency controller that uses a direct vector controlled induction motor. The search controller is based on the "Rosenbrock" method and finds the flux level at the minimum input power of induction motor. Once this optimal flux level has been determined, this information is utilized to update the rule base of a fuzzy controller A sliding mode observer is designed to estimate rotor flux and an adaptive backstepping controller is also used to compensate for mechanical uncertainties in the speed control of induction motor. Simulation results are presented to validate the proposed controller.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.233-236
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• 2004

In this paper, a new sensorless vibration control scheme is proposed for a flexible manipulator system. A robust sliding mode controller incorporating with a ‘reaction moment observer’ used for the estimation of the reaction moment reciprocally acting on flexible arm and hub inertia is introduced to achieve desired control target. The rigid body dynamics of the single-link flexible manipulator is simply considered in the design of the sliding mode controller. Then, the reaction moment is estimated by the proposed reaction moment observer to suppress the residual vibration of the flexible arm. The performance of the proposed control scheme is verified by computer simulation and experiment.