• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.05a
• /
• pp.515-516
• /
• 2006

The goal of total disc replacement is to restore pain-free mobility to a diseased functional spinal unit, by replacing the degenerated disc with a mobile bearing prosthesis. SB Charite III is named commercial product as the Artificial Intervertebral Disc (AID). SB Charite III consists of sliding core and endplate made by Ultra-high Molecular Weight Polyethylene (UHMWPE) and cobalt chrome alloy, respectively. To evaluate the effect of von-Mises stress in AID, and three-dimensional finite element model of AID analysis was preformed for four different loading types of sliding core. Consequently, endplate was compared with a compressive preload at 400N and flexion moment at $3{\sim}9Nm4. Therefore, this research has obtained result that von-Mises stress of sliding core in AID disc by radius curvature.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.12 no.3
• /
• pp.243-250
• /
• 2002

Semi-active control devices have received significant attention in recent Years because they offer the adaptability of active-control devices without requiring the associated large power sources. Magnetorheological(MR) dampers are semiactive control devices that use MR fluids to produce controllable dampers. This paper applies sliding mode control method using target variation rate of Lyapunov function for the control of structures by use of MR dampers. The three-story building model under earthquake excitation is analyzed by installing a MR damper in the first-story. The performance of semi-active controllers designed by clipped-optimal algorithm and modified sliding mode control algorithm is compared to the performance of passive-type MR dampers. The results indicate that semi-active controllers achieve a greater reduction of responses than passive-type system and especially the controller by modified sliding mode control method shows a good applicability in the view of response control and control force.

• Proceedings of the KIEE Conference
• /
• 1998.07b
• /
• pp.480-482
• /
• 1998

Sliding mode is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances. This study shows that the proposed fuzzy sliding mode control could reduce chattering problemed in sliding mode control. In this paper, an inverted pendulum is effectively controlled by the fuzzy sliding control technique. To reduce movable region of the inverted pendulum body, the angle and its integrated quantity are applied to the controller. The effectiveness of result is shown by the simulation and the experimental test for the inverted pendulum.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2002.10a
• /
• pp.446-449
• /
• 2002

Recently, advanced manufacturing system with high speed and intelligent have been developed for the betterment of machining ability. In this case, reliability prediction work with motion characteristic evaluation of sliding cover has also important roll from design procedure to manufacturing and assembly process. Accordingly in this study, H/W test -bed system for reliability evaluation of sliding cover has been developed to obtain proper reference data for design of new model, and also prevention trouble, quality and life cycle improvement extremely for advanced mother machinary.

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

• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.511-516
• /
• 2000

In order to not only perform as a extreme model under the severe operating condition but also acquire more diverse and advanced control capability utilizing high compliance, active vibration control of a flexible 2-link robot manipulator are investigated. Multi variable-structured frequency shaped optimal sliding mode is proposed for the flexible robot manipulator like control system, whose control variables, an angular motion of joint and vibration of flexible link, have to be controlled simultaneously by one control torque at a driving joint. The control system is divided into two subsystems, a control input related subsystem and an added subsystem. The proposed sliding mode, composed of multi control variables, makes optimized relation between subsystems and a individual control input, thus, the sliding mode controller can compensate whole dynamics of each subsystems simultaneously. And the possibility and effectiveness are verified by vibration control of a manipulator having two flexible links. Simulation and experiment results show that the proposed control scheme achieves the purpose effectively.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.16 no.6
• /
• pp.307-312
• /
• 2021

This paper proposes an adaptive time-delayed control approach with the integral sliding-mode surface for the fast convergence rate of robot manipulators. Adaptive switching gain aims to guarantee the system stability in such a way as to suppress time-delayed estimation error in the proposed control approach. Moreover, it makes an effort to increase the convergence ability in reaching the phase. An integral sliding-mode surface is employed to achieve a fast convergence rate in the sliding phase. The stability of the proposed one is proved to be asymptotically stable in the Lyapunov stability. The efficiency of the proposed control approach is illustrated with a tutorial example in robot manipulator, which is compared to that of the existing control approach.

• Journal of Industrial Technology
• /
• v.22 no.B
• /
• pp.219-230
• /
• 2002

The sliding stability of monolithic vertical caisson of composite breakwaters is quantitatively analyzed by using a reliability model, FMA of Level II, in order to study the variation of sliding failure of caisson due to the occurrence of extreme waves exceeded deepwater design wave. The reliability index and several parameters in the wave pressure formula are inter- related to find out the effects of extreme wave exceeded design wave on the sliding failure of vertical monolithic caisson. The sliding failure of caisson seems to be largely increased as the heights and periods of extreme waves exceeded design wave increase, also depends directly on the water depth in front of the composite breakwaters. From the numerical simulations carried out with several kinds of extreme waves exceeded design wave which are assumed to be occurred during the service periods of breakwater, it is found that the effects of the wave height on the sliding failure of caisson may be more dominant than those of wave periods and angles of wave incidence.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.16 no.4
• /
• pp.506-511
• /
• 2006

This paper considers a method to design sliding mode observers for a class of uncertain systems using Linear Matrix Inequalities(LMI). In an LMI-based sliding mode observer design method for a class of uncertain systems the switching surface is set to be the difference between the observer and system output. In terms of LMIs, a necessary and sufficient condition is derived for the existence of a sliding-mode observer guaranteeing a stable sliding motion on the switching surface. The gain matrices of the sliding-mode observer are characterized using the solution of the LMI existence condition. The results are illustrated by an example.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.7
• /
• pp.154-162
• /
• 2002

The effect of nonlinear friction in the low velocity is dominant in precise controlled mechanisms and it is difficult to model. This paper is concerned with the compensation for friction using the variable structure system approach as nonmodel based method. The problem of chattering in the sliding mode controller is suppressed by the implementation of the boundary layer concept. And the estimation for friction using sliding mode observer makes the upper bound of matched uncertainty reduced. Accordingly, the effect of chattering can be more suppressed. And the sliding surface is constructed by adding an integral component to the switching function that is made by using error dynamics. This sliding surface guarantees the good tracking performance. Experimental results for a XY table system show that the proposed method has a good performance especially in the low velocity.