• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.26-30
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• 1995

In this study, the fuzzy approximator and sliding mode control (SMC) scheme are considered. An adaptive sliding mode control is proposed based on the SMC theory. This proposed control scheme is that a adaptive law is utilized to approximate the unknown function f by fuzzy logic system in designing the sliding mode controller for the nonlinear system. In order to reduce the approximation errors, the differences of nonlinear function and fuzzy approximator, an adaptive law is also intoduced and the stability of proposed control scheme are proven with simple adaptive law and roburst adaptive law. This proposed control scheme is applied to a single link robot arm.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.04a
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• pp.131-136
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• 1997

This paper represent the variable structure adaptive mode control technique which is new approach to implement the robust control of industrial robot manipulator with external disturbances and parameter uncertainties. Sliding mode control is a well-known technique for robust control of uncertain nonlinear systems. The robustness of sliding model controllers can be shown in contiuous time, but digital implementation may not preserve robustness properties because the sampling process limits the existence of a true sliding mode. the sampling process often forces the trajectory to oscillate in the neighborhood of the sliding surface. Adaptive control technique is particularly well-suited to robot manipulators where dynamic model is highly complex and may contain unknown parameters. Adaptive control algorithm is designed by using the principle of the model reference adaptive control method based upon the hyperstability theory. The proposed control scheme has a simple sturcture is computationally fast and does not require knowledge of the complex dynamic model or the parameter values of the manipulator or the payload. Simulation results show that the proposed method not only improves the performance of the system but also reduces the chattering problem of sliding mode control, Consequently, it is expected that the new adaptive sliding mode control algorithm will be suited for various practical applications of industrial robot control system.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.5
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• pp.402-408
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• 2016

In this paper, a new approach to the terminal sliding mode control using adaptive fuzzy sliding surfaces is proposed. The idea behind this approach is to utilize an adaptive sliding surface, in which the slope of the surface is updated on line using a SISO fuzzy logic inference system. We expanded the concepts of terminal sliding mode controller and proposed the terminal sliding mode control input with continuous reaching laws. The computer simulation results have shown the improved performance of the proposed control approach in terms of a decrease in the reaching and settling times and chattering free as compared to the conventional terminal sliding mode control with a fixed sliding surface. The proposed controller has also an advantage that has less computational burden to the conventional terminal sliding mode control using one-directional fuzzy rules.

• Smart Structures and Systems
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• v.19 no.5
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• pp.577-585
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• 2017

In this paper, an adaptive fuzzy sliding mode controller (AFSMC) is designed to reduce dynamic responses of seismically excited structures. In the conventional sliding mode control (SMC), direct implementation of switching-type control law leads to chattering phenomenon which may excite unmodeled high frequency dynamics and may cause vibration in control force. Attenuation of chattering and its harmful effects are done by using fuzzy controller to approximate discontinuous part of the sliding mode control law. In order to prevent time-consuming obtaining of membership functions and reduce complexity of the fuzzy rule bases, adaptive law based on Lyapunov function is designed. To demonstrate the performance of AFSMC method and to compare with that of SMC and fuzzy control, a linear three-story scaled building is investigated for numerical simulation based on the proposed method. The results indicate satisfactory performance of the proposed method superior to those of SMC and fuzzy control.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.2
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• pp.83-91
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• 2002

This paper presents a new speed and position sensorless control method of permanent magnet synchronous motors based on the sliding mode observer. Since the parameter of the dynamic equation such as machine inertia or viscosity friction coefficient are not well known and these values can be easily changed generally during normal operation, there are many restrictions in the actual implementation. The proposed adaptive sliding mode observer applies adaptive scheme so that observer may overcome the problem caused by using the dynamic equation. Furthermore, using the Lyapunov Function, the adaptive sliding mode observer can estimate rotor speed as well as stator resistance. The feasibility of the Proposed observer is verified cia the experiments.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.1
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• pp.15-20
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• 2001

In this paper, adaptive algorithms on the sliding model control for robust tracking control of robust manipulators are presented. The presented algorithms use adaption laws for tuning both the sliding mode gain and the thickness of the boundary layer to reject a disconitnuous control input, and to improve the tracking performance. It is shown that the robustness of the developed adaptive algorithms are guaranteed by the sliding mode control law and that the algorithms are globally convergent in the presence of disturbances and modeling uncertainties. Computer simulations are performed for a two-link manipulator, and the results show good properties of the proposed adaptive algorithms under large mainpulator parameter uncertainties and disturbances.

• Journal of Power System Engineering
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• v.17 no.4
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• pp.120-130
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• 2013

An adaptive PID sliding mode controller is proposed for the position control of electro-hydrostatic actuator(EHA) systems with system uncertainties and saturation in the motor. An EHA prototype is developed and system modeling and parameter identification are executed. Then, adaptive PID sliding mode controller and optimal anti-windup PID controller are designed and the performance and robustness of the two control systems are compared by experiment. It was found that the adaptive PID sliding mode control system has better performance and is more robust to system uncertainties than the optimal anti-windup PID control system.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.315-319
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• 2016

This paper proposes a simple adaptive sliding mode control algorithm for controlling a permanent magnet synchronous generator (PMSG) of a MW-class direct-driven wind turbine system. The proposed adaptive sliding mode controller does not require accurate knowledge of the PMSG parameter or turbine torque values. The proposed controller can accurately track the reference angular speed computed by the maximum power point tracking(MPPT) algorithm. Finally, this paper gives Matlab/Simulink simulation results to verify the practicality and effectiveness of the proposed adaptive sliding mode controller.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.55 no.5
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• pp.271-279
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• 2006

In this paper, a new speed sensorless control based on an adaptive sliding mode observer is proposed lot the interior permanent magnet synchronous motor(IPMSM) drives. With using voltage equation only, the adaptive sliding mode observer was investigated. Since the parameter of the dynamic equation such as machine inertia or viscosity friction coefficient are not well known and these values can be easily changed during normal operation, there are many restrictions in the actual implementation. The proposed adaptive sliding mode observer applied to overcome the problem caused by using the dynamic equation. Furthermore, the Lyapunov function is used to prove the system stability included speed estimate and speed control. The effectiveness of the proposed algorithm is confirmed by the experiments.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.584-596
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• 2019

This paper presents a Modified Adaptive Complementary Sliding Mode Control (MACSMC) system for the longitudinal motion control of the Fully-Submerged Hydrofoil Craft (FSHC) in the presence of time varying disturbance and uncertain perturbations. The nonlinear disturbance observer is designed with less conservatism that only boundedness of the derivative of the disturbance is required. Then, a complementary sliding mode control system combined with adaptive law is designed to reduce the bound of stabilization error with fast convergence. In particularly, the modified complementary sliding mode surface which contains the estimation of the disturbance can reduce the switching gain and retain the normal performance of the system. Moreover, a hyperbolic tangent function contained in the control law is utilized to attenuate the chattering of the actuator. The global asymptotic stability of the closed-loop system is demonstrated utilizing the Lyapunov stability theory. Ultimately, the simulation results show the effectiveness of the proposed approach.