• Nuclear Engineering and Technology
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• v.25 no.1
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• pp.110-124
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• 1993

A Nonlinear model-based Hybrid Controller (NHC) is developed which consists of the adaptive proportional-integral-feedforward (PIF) gains and variable structure controller. The controller has the robustness against modeling uncertainty and is applied to the trajectory tracking control of single-input, single-output nonlinear systems. The essence of the scheme is to divide the control into four different terms. Namely, the adaptive P-I-F gains and variable structure controller are used to accomplish the specific control actions by each terms. The robustness of the controller is guaranteed by the feedback of estimated uncertainty and the performance specification given by the adaptation of PIF gains using the second method of Lyapunov. The variable structure controller is incorporated to regulate the initial peak of the tracking error during the parameter adaptation is not settled yet. The newly developed NHC method is applied to the power tracking control of a nuclear reactor and the simulation results show great improvement in tracking performance compared with the conventional model-based control methods.

• Journal of Information Processing Systems
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• v.16 no.3
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• pp.588-598
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• 2020

An alternative state estimation filtering algorithm is designed for continuous time systems with noises as well as control input. Two kinds of estimation filters, which have different measurement memory structures, are operated selectively in order to use both filters effectively as needed. Firstly, the estimation filter with infinite memory structure is operated for a certain continuous time system. Secondly, the estimation filter with finite memory structure is operated for temporarily uncertain continuous time system. That is, depending on the presence of uncertainty, one of infinite memory structure and finite memory structure filtered estimates is operated selectively to obtain the valid estimate. A couple of test variables and declaration rule are developed to detect uncertainty presence or uncertainty absence, to operate the suitable one from two kinds of filtered estimates, and to obtain ultimately the valid filtered estimate. Through computer simulations for a continuous time aircraft engine system with different measurement memory lengths and temporary model uncertainties, the proposed state estimation filtering algorithm can work well in temporarily uncertain as well as certain continuous time systems. Moreover, the proposed state estimation filtering algorithm shows remarkable superiority to the infinite memory structure filtering when temporary uncertainties occur in succession.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.771-774
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• 1996

This paper presents a continuous time varying sliding surface that allows faster tracking and really guarantees robust contro land smooths control inputs. And this method is evaluated by applying to robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.463-467
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• 1991

A continuous variable structure system control as a DC servomotor trackhig controller is proposed for the improvement of the chattering problems. The stability property of the proposed algorithms is analyzed. The prescribed trackfiig error is gauranteed in the existence of load variations based on the stability analysis.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.508-512
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• 1989

A new control law of a VSCS is illustrated and put into an analytical form. Using the presented control law, a VSCS shows smooth response, low control input and high accuracy in comparison with those by typical control law.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.550-555
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• 1990

In the VSS control, reaching phase and chattering problem are the main disadvantages. A simple nonlinear sliding surface is proposed to cope with the reaching phase. The chattering problem is alleviated by almost continuous control with the compensation using the infinite closed loop.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.16-19
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• 1996

In this paper, a sliding mode control scheme that guarantees the smoothness of the control signal and the exponential error convergence is proposed for robot manipulators. The proposed method inserts a low pass filter (LPF) in front of the plant, and the virtual controller is designed for the virtual plant - the combination of the LPF and the robot manipulator. The virtual control signal contains high frequency components because of a switching function. The real control signal, however, always shows a smooth curve since it is an output of the LPF. In addition to the smoothness of the control signal is always assured, the overall system is in the sliding mode at all times, that is, its performance is always invariant under the existence of parameter uncertainties and external disturbances. The closed-loop system is shown to be globally exponentially stable.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.732-735
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• 1997

Variable Structure Controller(VSC) is usually known to have robustness to bounded exogenous disturbances. The robustness is attributed to the discontinuous term in the control input. However, this discontinuous term also causes an undesirable effect called chattering. To alleviate chattering, a hybrid controller consisting of VSC and Fuzzy Logic Controller(FLC) is proposed, which belongs to the category of Fuzzy Sliding Mode Controller(FSMC). The role of FLC in FSMC is to replace a fixed gain of a discontinuous term with a time-varying one based on a specified rule base. The characteristics of proposed controller are shown to be similar to those of VSC with a saturation function instead of sign function. The only remarkable difference is the nonlinearity whose form can be adjusted by free parameters, normalize gain, denormalize gain, and membership functions. Applied to AC servo motor, the proposed controller is compared with VSC in a regulation problem as well as a speed tracking problem. The simulation results show a substantial chatter reduction.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1430-1434
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• 2003

In this paper, for the fuzzy-reaching law method which has the characteristic of elimination of chattering at sliding mode as well as the characteristic of fast response at the design of variable structure controller with reaching law, optimal solutions for the determination of parameters of fuzzy membership functions by using genetic algorithm are proposed. Generally, the design of fuzzy controller has difficulties in determining the parameters of fuzzy membership functions by using a tedious trial-and-error process. To overcome these difficulties, this paper develops genetic algorithm of an optimal searching method based on genetic operation, and to verify the validity of this proposed method it is simulated through 2 link robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.406-411
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• 1993

A variable structure control scheme that can be applied to the process with input/output delays are proposed and its control performances are evaluated. The proposed VSCS, which is an output fedback scheme, comprises an integrator for tracking the setpoint and the Smith predictor for compensating the effects of time delay. With The VSCS, the robustness against the parameter variations and external disturbances can be achieved even when the controlled process includes I/O delays. And the desired transient response is obtained by simple adjustment of the coefficients of the switching surface equation.