• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1644-1645
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• 2007

This paper proposes an adaptive sliding mode control method for trajectory tracking of nonholonomic mobile robots with model uncertainties and external disturbances. The kinematic model represented by polar coordinates are considered to design a robust control system. Wavelet neural networks (WNNs) are employed to approximate arbitrary model uncertainties in dynamics of the mobile robot. From the Lyapunov stability theory, we derive tuning algorithms for all weights of WNNs and prove that all signals of an adaptive closed-loop system are uniformly ultimately bounded.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.2
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• pp.157-164
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• 2016

The paper studies a comparison analysis of semi-active control strategies for a Macpherson strut type suspension system consisting of MR(magneto-rheological) damper. As a first step, in order to formulate governing, a dynamic full model of a Macpherson strut is developed considering the kinematics. The nonlinear equation of motion of the strut is then linearized around the equilibrium point. A new adaptive moving sliding model controller is developed for fast response of the system. A newly proposed adaptive moving sliding mode control strategy is then compared with conventional sliding mode controller and skyhook controller. The comparison is made for two different types of road inputs; bump and random road profiles showing superior vibration control performance in time and frequency domains.

• Journal of Navigation and Port Research
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• v.29 no.8 s.104
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• pp.747-753
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• 2005

In this paper, as an anti-sway control strategy of container cranes, we investigate a variable structure control in which the moving load follows a given trajectory, whereas both the trolley and hoist controllers achieve their positioning problems. It is crucial, in an automated container terminal, that collisions should be avoided during the transference of containers from one place to another. It is also necessary, in the case of a quay crane, to select suitable loading and unloading trajectories of containers, so that possible collisions with surrounding obstacles are avoided. After a brief introduction of the mathematical model, a robust control scheme (i.e., a second-order sliding mode control that guarantees a fast and precise transference and a suppression of the resulted swing) is presented. Despite model uncertainties and unmodeled actuators dynamics, the swing suppression from the given trajectory is obtained by constraining the system motion on suitable sliding surfaces, which include both the desired path and the swing angle. The proposed controller has been tested with a laboratory-size pilot crane. Experimental results are provided.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.1
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• pp.16-22
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• 2016

The research on two-wheeled inverted pendulum (TWIP) mobile robots has been ongoing in a number of robotic laboratories around the world. In this paper, we consider a robust controller design for the TWIP mobile robot driving on uniform slopes. We use a 2 degree-of-freedom (DOF) model which is obtained by restricting the spinning motion in a 3 DOF motion dynamic equation. In order to design the robust controller guaranteeing stability of the TWIP mobile robot driving on inclined surface, we propose a sliding mode control based on the theory of variable structure systems and design a sliding surface using the theory of the linear quadratic regulation (LQR). For simulation, the dynamic model of the TWIP mobile robot is constructed using Mathworks' Simulink and the sliding mode control is also implemented using Simulink. From simulation results, we show that the proposed controller effectively controls the TWIP mobile robot driving on slopes.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.43 no.2
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• pp.48-55
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• 2020

Recently, a study of prognosis and health management (PHM) was conducted to diagnose failure and predict the life of air craft engine parts using sensor data. PHM is a framework that provides individualized solutions for managing system health. This study predicted the remaining useful life (RUL) of aeroengine using degradation data collected by sensors provided by the IEEE 2008 PHM Conference Challenge. There are 218 engine sensor data that has initial wear and production deviations. It was difficult to determine the characteristics of the engine parts since the system and domain-specific information was not provided. Each engine has a different cycle, making it difficult to use time series models. Therefore, this analysis was performed using machine learning algorithms rather than statistical time series models. The machine learning algorithms used were a random forest, gradient boost tree analysis and XG boost. A sliding window was applied to develop RUL predictions. We compared model performance before and after applying the sliding window, and proposed a data preprocessing method to develop RUL predictions. The model was evaluated by R-square scores and root mean squares error (RMSE). It was shown that the XG boost model of the random split method using the sliding window preprocessing approach has the best predictive performance.

• Journal of the Korean Geotechnical Society
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• v.22 no.2
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• pp.5-17
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• 2006

In order to investigate the stabilizing effect of nails against sliding, a series of model tests were carried out. The apparatus of model test was designed to perform the model test of soil slope reinforced by nails. The instrumentation system was used to measure the deflection behavior of nails during slope failure. As a result of model tests, the quantity and the occurred position of the maximum bending stress are changed according to the area ratio and the inclination angles of nails. The maximum stabilizing effect against sliding of nails is presented at 0.7$\%$ of the area ratio because the biggest maximum bending stress occurs at this time. But, the stabilizing effect of nails decreases with more than 0.7$\%$ of the area ratio. In the same condition of the area ratio, the stabilizing effect of nails is excellent at -10$^{circ}$ of the inclination angles of nails. The sliding surface can be predicted on the basis of the position of the maximum bending stress in each nails. The shape and depth of sliding surface are changed according to the area ratio and the inclination angles of nails.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.6
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• pp.21-28
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• 2017

Electro-hydraulic sliding deck systems have been developed to reduce the weight for the loading of an agricultural machine. The extension length of the sliding deck was calculated according to the bed's dump angle. The optimum thickness and material were determined using a large and heavy load at acceptable angles. In addition, the degrees of freedom were calculated to obtain the input/output relationship of the system. An equation was derived using a simplified model formula for the extended length of the sliding deck according to the bed's dump angle. Also, the advance length at the maximum and minimum angles of the system was determined using numerical analysis. A down-scaled model of the system was constructed and verified by experiments. The deck was simplified to determine the material and thickness of the sliding deck and for the selection of the two representative materials. The simplified model was tested in deformation tests and stress tests with different thicknesses and materials using a structure analysis program. The analysis results show that ATOS80 is the best among the two materials for reducing the weight of the system.

• Journal of the Korean Geotechnical Society
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• v.31 no.4
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• pp.57-66
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• 2015

Empirical seismic displacement equations based on the Newmark sliding block method are widely used to develop seismic landslide hazard map. Most proposed equations have been developed for embankments and landfills, and do not consider the dynamic response of sliding block. Therefore, they cannot be applied to Korean mountain slopes composed of thin, uniform soil-layer underlain by an inclined bedrock parallel to the slope. In this paper, a series of two-dimensional dynamic nonlinear finite difference analyses were performed to estimate the permanent seismic slope displacement. The seismic displacement of mountain slopes was calculated using the Newmark method and the equivalent acceleration time history. The calculated seismic displacements of the mountain slopes were compared to a widely used empirical displacement model. We show that the displacement prediction is significantly enhanced if the slope is modeled as a flexible sliding mass and the amplification characteristics are accounted for. Regression equation, which uses PGA, PGV, Arias intensity of the ground motion and the fundamental period of soil layer, is shown to provide a reliable estimate of the sliding displacement. Furthermore, the empirical equation is shown to reliably predict the hazard category.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.10a
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• pp.407-412
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• 2009

In the present work, vibration control performance of active camera mount system for unmanned aero vehicle (UAV) is evaluated. An active mount featuring inertia type of piezostack actuator is designed and manufactured. Then, vibration control performances are experimentally evaluated. A camera mount system with four active mounts is constructed and mechanical model is established. The governing equation for the camera mount system is obtained and control model is constructed in state space model. Sliding mode controller which has inherent robustness to external disturbance is designed and implemented to the system. Vibration control performances are evaluated at each mount and center of gravity point. Effective vibration performances are obtained and presented in time and frequency domains.

• Proceedings of the KIPE Conference
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• 1997.07a
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• pp.70-78
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• 1997

A DSP-based nonlinear speed control of a permanent magnet synchronous motor(PMSM) which is robust to unknown parameter variations and speed measurement error is presented. The model reference adaptive system(MRAS) based adaptation mechanisms for the estimation of slowly varying parameters are derived using the Lyapunov stability theory. For the disturbances or quickly varying parameters, a quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of the PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of a PMSM drive is designed and compared with the conventional controller. To show the validity of the proposed control scheme, simulations and experimental works are carried out and compared with the conventional control scheme.