• Journal of Institute of Control, Robotics and Systems
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• v.2 no.4
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• pp.279-286
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• 1996

In this paper, variable structure control(VSC) based on reaching law method with fuzzy inference for nonlinear systems is proposed. The reaching law means the reaching condition which forces an initial state of system to reach switching surface in finite time, and specifies the dynamics of a desired switching function. Since the conventional reaching law has fixed coefficients, the chattering can be existed largely in sliding mode. In the design of a proposed fuzzy reaching law, we fuzzify RP(representative point)'s orthogonal distance to switching surface and RP's distance the origin of the 2-dimensional space whose coordinates are the error and the error rate. The coefficients of the reaching law are varied appropriately by the fuzzy inference. Hence the state of system in reaching mode reaches fastly switching surface by the large values of reaching coefficients and the chattering is reduced in sliding mode by the small values of those. And the effectiveness of the proposed fuzzy reaching law method is showen by the simulation results of the control of a two link robot manipulator.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.360-364
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• 2001

In this paper, a novel method of reaching law variable structure control based on fuzzy rules is present, which is that the reaching law parameters is on-line adjusted by fuzzy rules. This method is used in a digital ac position servo system, the experiment results show that the system designed by this method has both satisfactory quality and very smaller chattering.

• 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.