• 제어로봇시스템학회논문지
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• 제6권12호
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• pp.1133-1145
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• 2000

In this paper a model following flight control system design using the discrete time quasi-sliding mode control method is described. The quasi-sliding mode is represented as the sliding mode band, not as the sliding surface. The quasi-sliding mode control is composed of the equivalent control for the nominal system without uncertainties and disturbances and the additive control compensating the uncertainties and disturbances. The linearized plant on the equilibrium point is used in designing a flight control system and the stability conditions are proposed for the model uncertainties. Pseudo-state feedback control which uses the model variables for the unmeasured states is proposed. The proposed method is applied to the design of the roll attitude and pitch load factor control of a bank-to-turn missile. The performance is verified through the nonlinear six degrees of freedom flight simulation.

• 전기전자학회논문지
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• 제15권2호
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• pp.149-156
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• 2011

In this paper, a new discrete variable structure controller based on a new sliding surface and discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed sliding surface. The discrete version of the disturbance observer is derived for the effective compensation of the effect of uncertainties and disturbances. A corresponding control input with the disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined sliding surface for guaranteeing the designed output in the sliding surface from any initial condition to the origin for all the parameter variations and disturbances. By using Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm.

• 한국해양공학회지
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• 제11권4호
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• pp.169-179
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• 1997

This paper presents a discrete-time sliding mode control of an autonomous underwater vehicle with parameter uncertainties and long sample interval based on discrete variable structure system. Although conventional sliding mode montrol techniques are robust to system uncertainties, in the case of the system with long sample interval, the sliding control system reveals chattering phenomenon and even makes the system unstable. This paper considers the AUV which acquires position informations from a surface ship through an acoustic telemetry system with a certain discrete interval. The control system is designed on the basis of a Lyapunov function and a sufficient condition of the switching gain to make the system stable is give. Each component of the switching gain can be determined separately one another. The controller is robust to the uncertainties, and reaching condition of the control system is satisfied for any initial condition. This control law is a generalized form of the discrete sliding mode control and reduce the chattering problem considerably. Motion control of the AUV in the vertical plane shows the effectiveness of the proposed technique.

• 대한전자공학회논문지
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• 제25권3호
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• pp.262-268
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• 1988

In this paper conditions are derived, which ensure the existence of a quasi-sliding mode on the control switching hyperplane in discrete variable structure control systems and also remove the reaching phase problem observed in continuous-time variable structure systems. In addition, a discrete variable structure tracking controller which has adaptive properties is devised based on these results. This controller has useful properties, such as small sensitivity to the variation of plant parameters and to disturbances and its performing speed is fast compared to that of other adaptive controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.512-514
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• 1997

In this paper, a quasi-sliding mode (QSM) control with load observer is discussed for field-oriented induction motor speed drive. The proposed QSM control, which is defined in the discrete time domain and act with the load torque observer eliminating impacted load torque, restricts the bound of chattering within specified band. With this strategy, we can obtain fast dynamics without overshoot and robustness to parameter variation and disturbance. The proposed scheme is verified by digital simulation.