• Title/Summary/Keyword: Sliding mode Control

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자율주행 자동차의 전기적 파워 조향 시스템을 위한 제어 기법의 개관

  • Son, Yeong-Seop;Kim, Won-Hui;Jeong, Jeong-Ju
    • ICROS
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    • v.21 no.1
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    • pp.31-36
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    • 2015
  • 운전자에게 편의성을 제공하는 차량의 주행관련 Advanced driver assist system (ADAS)에는 차량의 종방향과 횡방향 운동에 대한 제어기가 요구된다. 횡방향 제어를 위해서는 조향 시스템의 조향각 제어가 요구되는데 최근 구조적으로 간단하고 연비향상, 차량의 중량 감소, 빠른 응답성을 가지고 있는 전기적 파워 조향 (Electric power steering, EPS) 시스템이 자동차 산업에서 널리 사용되고 있다. 차량의 주행관련 ADAS를 사용하여 자율 주행 시 EPS 시스템은 상위 제어기에서 계산된 필요한 조향각을 추종 할 수 있도록 조향 핸들의 각 제어를 해야 한다. 그러나 일반적인 EPS 시스템은 운전자가 조향 핸들에 인가된 토크를 보조해 줄 수 있는 토크를 출력해 준다. 본 논문에서는 이러한 문제를 해결하는 방법들을 설명한다. 먼저 EPS 시스템의 기본 기능에 대해서 설명을 하고, 자율 추행 차량을 위한 조항 핸들의 각 제어를 위한 proportional-integral 제어, 슬라이딩 모드 제어 (Sliding mode control), 관측기 기반 비선형 댐핑 제어(Observer based nonlinear damping control) 등과 같은 다양한 기법의 제어 알고리즘들에 대한 방법들이 고찰되었다.

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Design and Active Vibration Control of UAV EO/IR Sensor Mount Using Rubber Element and Piezoelectric Actuator (고무와 압전작동기를 이용한 무인항공기 EO/IR 센서 마운트의 설계 및 능동 진동 제어)

  • Park, Dong-Hyun;Choi, Seung-Bok
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2008.11a
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    • pp.743-748
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    • 2008
  • This paper presents an inertia type of piezostack based active mount for unmanned aero vehicle (UAV) camera system. After identifying the stiffness and damping properties of the rubber element and piezostack a mechanical model of the active mount system is established. The governing equation of mount is them derived and expressed in a state space farm. Subsequently, a sliding mode controller which is robust to uncertain parameters is designed in order to reduce the vibration imposed according to the military specification associated with UAV camera mount system operation. Control performances such as acceleration and transmitted force are evaluated through both computer simulation and experimental implementation.

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Variable Structure Control using Inertial Coordinate-Operator Feedback (Inertial Coordinate-Operator Feedback을 이용한 가변구조제어)

  • You, Wan-Sik;Hur, Young-Jae;Kim, Young-Seok
    • Proceedings of the KIEE Conference
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    • 1994.07a
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    • pp.465-467
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    • 1994
  • A VSC with Inertial COFB(Coordinate-Operator Feedback) is presented for chattering alleviation. Athought the conventional sliding mode controller has good properties of robustness for disturbances or parameter variations, fast response, and easy implementation, there exists an inevitable chattering problem which deteriorates the control performance of system. VSC using Inertial COFB has properties of bounded feedback gain, reduced chattering, and robustness for disturbances or parameter variations. The validity of the proposed method is demonstrated through computer simulation for a position control of BLDCM.

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Design of Robust Controller for DC to DC Converter (DC - DC 컨버터 구동을 위한 강인제어기 설계)

  • Kim, Tae-Woo;Kim, Min-Chan;Yoon, Seong-Sik;Kim, Hyeon-Woo;Kim, Tae-Kyu;Ahn, Ho-Kyun
    • Proceedings of the KIEE Conference
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    • 2009.07a
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    • pp.995_996
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    • 2009
  • This paper presents a sliding mode control method for step up DC-DC converter. For high performance control of converter, it requires the robustness between the input current and the output voltage. As a result, in spite of disturbance and parameter uncertainty, the proposed controller has the robustness to control the output voltage.

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A Study on Modeling and Control of Excavator Engine/Pump System (굴삭기 엔진/펌프 시스템의 모델링 및 제어에 관한 연구)

  • Kwak, Dong-Hoon;Ha, Sug-Hong;Cho, Kyeom-Ra
    • Journal of the Korean Society for Precision Engineering
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    • v.9 no.3
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    • pp.29-41
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    • 1992
  • According to the recent increase of demands for multi-function and economics on hydraulic excavator, it is required that excavator should have simple operation, higher and operational efficiency, however the modeling of engine/pump system of excavator is not prescribed by the paper. So, in this paper the modeling of engine/pump system of excavator is suggested by identification method from step response and verified effectiveness of identification system by comparing with experimental results which was conducted using PID controller. To improve the problem of parameter variation and modeling error in the system, sliding mode control was introduced and new switching surface was designed. This control algorithm was applied to a hydraulic excavator by simulation, and its effectiveness was verified, and the results of variable structure system for the excavator system using a output component was compared with that of full state feedback when load disturbances and system paramenter variation exist.

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Design of fuzzy logic controller based on adaptive variable structure controller (적응 가변구조 개념을 이용한 퍼지 제어기의 설계)

  • 박귀태;이기상;박태홍;배상욱;김성호
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10a
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    • pp.382-386
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    • 1992
  • In this paper, the author proposed FLVSC(Fuzzy Logic Variable Structure Controller), of which control rules are extracted from the concepts of VSC(Variable Structure Control). FLC(Fuzzy Logic Controller) based on linguistic rules has the advantages of not needing of some exact mathematical model for plant to be controlled. The proposed method has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of disturbances, parameter variations and uncertainties in sliding mode. In addition, the method has the properties of FLC - noise rejection capability etc. The computer simulations have been carried out for a DC servo motor to show the usefulness of the proposed method and the effects of disturbances and parameter variations are considered.

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Design of sliding mode controller for uncertain multivariable systems in the absence of matching conditions (정합조건이 만족되지 않는 불확실한 다변수 계통에 대한 슬라이딩 모드 제어기의 설계)

  • 천희영;박귀태;김동식;임성준;공진수
    • 제어로봇시스템학회:학술대회논문집
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    • 1990.10a
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    • pp.439-445
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    • 1990
  • All models of dynamical systems invariably have some measure of uncertainties associated with some of their dynamics. The recent approaches to establish robustness of stabilizing feedback control against the possible uncertainties have a serious limitation, that is their applicability only to the systems that satisfy the matching conditions. Such conditions are rarely met in general applications. If a particular system satisfies the matching conditions, the addition of an actuator will destroy the satisfaction of such conditions. In this paper, we develop robust control algorithm for uncertain multivariable systems in which the matching conditions are not necessarily met. We empoly Lyapunov's second method to derive robust stabilizing controllers which guarantee asymptotic stability against prescribed uncertainties. The derivation consists of transforming the original uncertain system to controllable canonical form and constructing a constant switching surface by designing the closed-loop characteristics as a function of the uncertainties. Numerical examples are discussed as illustrations.

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Attitude SCAS Design for 40% Scaled Smart UAV (40% 축소형 스마트 무인기 비행제어기 설계)

  • Lee, Jang-Ho;Hwang, Tai-Won;Choi, Ji-Young;Kim, Eung-Tai
    • Aerospace Engineering and Technology
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    • v.6 no.2
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    • pp.1-7
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    • 2007
  • The control design for attitude and yaw rate of 40 % scaled SMART UA Vhas been performed. Analytic selection method for a control gain is proposed to meet the design specification of desired time response considering stability margin. The sliding mode attitude controller is also proposed and compared with the simulation results of a linear controller. Additionally, a velocity and height tracking controller is devised to prepar for the flight test.

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Design of Receding Horizon Control for Boiler-Turbine Systems (보일러-터빈 시스템을 위한 이동구간 예측제어기 설계)

  • Lee, Young-I.;Lee, Gi-Won
    • Proceedings of the KIEE Conference
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    • 1997.07b
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    • pp.441-445
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    • 1997
  • In this paper, we suggest a design scheme of receding horizon predictive control(RHPC) for boiler-turbine systems whose dynamics are given in nonlinear equations. RHPC is designed for linear state space models which are obtained at a nominal operating point of the boiler-turbine system. In this consideration, the boiler is operated in a sliding pressure mode, in which the reference value of drum pressure is changing according to the electrical power generation. The reference values of the system outputs are prefiltered before they are fed to the RHPC in order to compensate the linearization errors. Simulation results show that the proposed controller provides acceptable performances in both of the cases of 'steep and small changes' and 'slow and large changes' of power demand and yields the effect of modest coordination of conventional PID schemes such as boiler-following and turbine-following control.

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A Study on Path Tracking Control for Mobile Robot Using Cross Coupling (크로스 커플링을 이용한 이동 로봇의 경로제어에 관한 연구)

  • Han, Young-Seok;Lee, Kwae-Hi
    • Proceedings of the KIEE Conference
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    • 1998.07g
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    • pp.2351-2353
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    • 1998
  • This paper suggests the wheel controller for PWS(Power Wheeled Steering) mobile robot. The proposed controller consists of two parts. To control each motor, the sliding mode controller implemented. This method has robustness about modeling error and disturbance, so the velocity tracking is well guaranteed in the presence of varying load. The design of a fuzzy cross-coupling controller for a PWS mobile robot is described here. Fuzzy cross-coupling control directly minimizes the tracking error by coordinating the motion of the two drive wheels. The fuzzy cross-coupling controller has excellent disturbance rejection and therefore is advantageous when the robot is not loaded symmetrically. The capability of the proposed controller was verified through the computer simulation.

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