• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1286-1293
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• 2008

This paper proposes a realization of robust trajectory tracking for an industrial robot by using PD-sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of a multi-joint robot by taking advantages of both the PD and sliding mode controls. The embodiment of distributed controllers that drive 4-DOF axes has evaluated through experiments with the multi-joint robot AT1. The PD-sliding mode algorithm which is proposed in this paper shows a good performance in the transient period and robustness against disturbances and This paper shows accuracy of end-effector.

• 제어로봇시스템학회논문지
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• 제5권4호
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• pp.379-384
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• 1999

In this paper, we present a new time-varying sliding surface to achieve fast and robust tracking of higher-order uncertain systems. The surface passes through an initial error, and afterwards, it moves towards a predetermined target surface by means of a variable named by sliding surface gain and its intercept. Specifically, the sliding surface gain is determined so that its initial value can minimize a shifting distance of the surface and that the system roots in sliding mode can follow certain stable trajectories. The designed sliding mode control forces the system errors to stay always on the proposed surface from the beginning. By this means, the system remains insensitive to system uncertainties and disturbances for the whole time. To illustrate the effectiveness of the proposed method, the comparative study with conventional time-invariant sliding mode control is performed.

• 한국소음진동공학회논문집
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• 제22권10호
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• pp.949-958
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• 2012

Position tracking control of a link of a slave manipulator which needed to track the corresponding link of a master manipulator was addressed in this paper. Since driving torque from motor is transmitted through a set of flexible cable to link, the motion control system is modeled by a two-mass model connected with elastic coupling which has finite stiffness. Relative vibration of two-mass resonant system is a serious problem to operate manipulator. This paper proposed sliding mode control to reduce resonant vibration and fine position tracking control. Also, a pseudo-sliding mode control which uses a saturation function instead of a signum function was discussed and showed that the pseudo-sliding mode control can improve disturbance regulation performance as well as guarantees fine command tracking without chattering which is an inherent drawback of basic sliding mode control. In addition, a disturbance observer based sliding mode control has been suggested to improve disturbance regulation performance. The feasibility of the proposed control design was verified along with some simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.334-334
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• 2000

In this paper, sliding mode observer design principles based on the equivalent control approach are discussed for the systems which may not satisfy the matching conditions. We propose a new approach for designing a sliding observer and the proof of the stability of the state reconstruction error system for time-invariant systems using the Lyapunov method. The reaching time to the sliding surface, the sliding dynamics of the system, the stability of the reconstruction error system via Lyapunov method, sufficient conditions for the existence of the sliding mode are studied.

• International Journal of Ocean System Engineering
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• 제3권2호
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• pp.50-60
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• 2013

This paper presents a novel approach to the design of an adaptive fuzzy sliding mode controller for depth control of an autonomous underwater vehicle (AUV). So far, AUV's dynamics are highly nonlinear and the hydrodynamic coefficients of the vehicles are difficult to estimate, because of the variations of these coefficients with different operating conditions. These kinds of difficulties cause modeling inaccuracies of AUV's dynamics. Hence, we propose an adaptive fuzzy sliding mode control with novel fuzzy adaptation technique for regulating vertical positioning in presence of parametric uncertainty and disturbances. In this approach, two fuzzy approximator are employed in such a way that slope of the linear sliding surface is updated by first fuzzy approximator, to shape tracking error dynamics in the sliding regime, while second fuzzy approximator change the supports of the output fuzzy membership function in the defuzzification inference module of fuzzy sliding mode control (FSMC) algorithm. Simulation results shows that, the reaching time and tracking error in the approaching phase can be significantly reduced with chattering problem can also be eliminated. The effectiveness of proposed control strategy and its advantages are indicated in comparison with conventional sliding mode control FSMC technique.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.348-348
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• 2000

In this paper, we present a fuzzy moving sliding mode control for two-degrree-of-freedom robotic manipulator. 17he sliding surface parameters are designed by fuzzy inference. The proposed sliding mode control makes the error always remain on the surface from beginning and therefore, the system is insensitive to system uncertaintics and external disturbances. Simulation results show the effectiveness of proposed scheme.

• 대한기계학회논문집A
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• 제20권11호
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• pp.3560-3572
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• 1996

This paper presents a new discrete-time fuzzy-sliding mode controller for robust vibration control of a smart structure featuring a piezofilm actuator. A governong equation of motion for the smart beam structure is derived and discrete-time codel with mismatched uncertainties such as parameter variations is constructed ina state space. A discrete-time sliding mode control system consisting of an equivalent controller and a discontinuous controller is formulated. In the design of the equivalent part, so called an equivalent controller separation method is adopted to achieve vzster convergence to a sliding surface without extension of a sliding region, in which the system robustness maynot be guaranteed. On the other hand, the discontinuous part is constructed on the basis of both the sliding and the convergence conditions using a time-varying feedback gain. The sliding moide controller is then incorporated with a fuzzy technique to appropriately determine principal control parameters such as a discountinuous feedback gain. Experimental implementation on the forced and random vibraiton controls is undertaken in order to demonstrate superior control performance of the proposed controller.

• International Journal of Aeronautical and Space Sciences
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• 제4권1호
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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.

• 대한전기학회논문지
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• 제40권1호
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• pp.39-46
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• 1991

In the VSS control, the trajectories with a conventional sliding surface have a reaching phase which is an interval from the initial state to the first touching of the sliding surface. Since the sliding mode control can not be realized in a reaching phase, the trajectories may be sensitive to the disturbances and parameter variations. A simple nonlinear sliding surface is proposed to improve the robustness in a reaching phase. The position control of a PM DC servo motor using a new sliding surface is carried out and is compared to the one using the conventional surface. The sliding mode occurs in entire trajectories with the proposed new sliding surface and the improved robustness is obtained.

• 제어로봇시스템학회논문지
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• 제7권3호
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• pp.193-197
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• 2001

This paper presents a design method of sliding model control (SMC) for single input linear systems with mismatched uncertainties. We define a virtual state based on the controllable canonical form of the nominal system. And we defined a sliding surface for the augmented system with a virtual state. This sliding surface makes it possible to use the SMC technique with various types of controllers. In this paper, we construct a controller that combines SMC with robust controller. We design a robust controller for the system with mismatched uncertainties using a form of linear matrix inequality(LMI). We make a virtual state from this robust control input and the states of the nominal system. And we design a sliding model controller that stabilizes the overall closed-loop system.