• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.667-670
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• 2009

This paper presents an LMI-based method to design a sliding mode controller for a multivariable uncertain system with a polytopic model. In terms of LMIs an existence condition of a sliding surface is derived. And a switching feedback control law is given. Finally, a numerical design example is given to show that the proposed method can be better than the existing results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.24-24
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• 2000

This paper proposes a design method of sliding mode observer for SISO linear systems with a disturbance input. We first construct an observer with a constant gain matrix, a feedforward injection map and an external feedforward compensation signal input. Using the second Lyapunov method, we present a sufficient condition for the existence of sliding mode observer. The proposed observer guarantees that the state error trajectories enter a certain region in finite time and remain inside thereafter.

• 조명전기설비학회논문지
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• 제24권9호
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• pp.44-48
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• 2010

This paper presents an LMI-based method to design an integral sliding mode controller for an uncertain system with a polytopic model. The uncertain system under consideration may have mismatched parameter uncertainties in the state matrix as well as in the input matrix. Using LMIs we derive an existence condition of a sliding surface. And we give a switching feedback control law.

• 전기학회논문지
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• 제60권1호
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• pp.138-141
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• 2011

This paper presents an LMI-based method to design an output feedback integral sliding mode controller for a class of uncertain systems. Using LMIs we derive an existence condition of a sliding surface. And we give a switching feedback control law. Finally, we give a numerical design example in order to show the effectiveness of the proposed method.

• 제어로봇시스템학회논문지
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• 제12권11호
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• pp.1057-1060
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• 2006

This paper presents an LMI-based method to design a reduced order observer based sliding mode controller for a class of uncertain systems. Using LMIs we derive an existence condition of a reduced order observer and a sliding mode control law. And we give explicit formulas of the gain matrices. Finally, we give a numerical design example, together with a design algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2191-2193
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• 2004

The Sliding Mode Control is more robust and give the better performance than the $H_{\infty}$ control if the matching condition is satisfied. So in this paper, a controller which can have the advantages of $H_{\infty}$ control and the SMC is proposed to add the robustness of the SMC to the $H_{\infty}$ controller. The dynamic of proposed sliding surface is the same dynamic as the system controlled by $H_{\infty}$ controller without the uncertainties which satisfy the matching condition.

• 제어로봇시스템학회논문지
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• 제11권11호
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• pp.907-912
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• 2005

In this paper, we consider the problem of designing sliding surfaces fur a class of dynamic systems with mismatched uncertainties in the state space model. In terms of LMIs, we give necessary and sufficient conditions fir the existence of a linear sliding surface such that the reduced order sliding mode dynamics is asymptotically stable and completely independent of uncertainties. We parameterize all such linear sliding surfaces by using the solution to the given LMI conditions. And, we consider the problem of designing linear sliding surfaces guaranteeing pole placement constraints or $H_2/H_infty$ performances. Finally, we give a design example in order to show the effectiveness of our method.

• 전기학회논문지
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• 제59권5호
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• pp.950-960
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• 2010

In this paper, a multi-input multi-output(MIMO) integral variable structure system with an integral-augmented sliding surface is designed for the improved robust control of uncertain multivariable system under the matched persistent disturbance. To effectively remove the reaching phase problems, the integral augmented sliding surface is proposed. Then for its design, the eigenstructure assignment technique is introduced to. To guarantee the designed performance against the persistent disturbance, the stabilizing control for multi-input system is also designed to generate the sliding mode on the integral sliding surface. The stability of the global system together with the existence condition of the sliding mode are investigated and proved for the case of multi input system in the presence of uncertainty and disturbance. The reaching phase is completely removed in proposed MIMO VSS by satisfying the two requirements. An example and computer simulations will be present for showing the usefulness of algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.109.1-109
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• 2001

This paper deals with the path following problem of car-like intelligent mobile robot. A robust sliding mode control law based on time-varying state feedback is performed via Lyapunov method for path tracking of nonholonomic mobile robot with uncertainties. At first, A sliding control law is designed by combing the natural algebraic structure of the chained form system with ideas from sliding mode theory. Then, a robust control law is proposed to impose robustness against bounded uncertainties in path tracking. The problem of estimating the asymptotic stability region and the sliding domain of uncertain sliding mode system with bounded control input is also discussed. The proposed sliding mode control law can ensure the global reaching condition of the uncertain control system.

• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.15-18
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• 2007

We consider the problem of designing a static output feedback sliding mode control law for linear dynamical systems with mismatched uncertainties in the state matrix. We assume that an output dependent sliding surface guaranteeing the quadratic stability of the sliding mode dynamics is given, the reachability condition is not required to be satisfied globally, and the output feedback sliding mode control law complises both linear and discontinuous parts. We reduce the problem of designing the linear part of the sliding mode control law to a simple LMI problem which offers design flexibility for combining various useful convex design specifications. Our approach does not require state transformation and it can be applied to mismatched uncertain systems.