• 전기학회논문지
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• 제63권4호
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• pp.519-525
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• 2014

In this paper, an alternative variable structure controller is designed for the point-to-point regulation control of uncertain general linear plants so that the output of plants can be controlled from an arbitrarily given initial point to an arbitrarily given reference point in the state space. By using the error between the steady state value of the output and an arbitrarily given reference point and those integral, a transformed integral sliding surface is defined, in advance, as the surface from an initial state to an arbitrarily given reference point without the reaching phase problems. A corresponding control input is suggested to satisfy the existence condition of the sliding mode on the preselected transformed integral sliding surface against matched uncertainties and disturbances. Therefore, the output controlled by the proposed controller is completely robust and identical to that of the preselected transformed integral sliding surface. Through an example, the effectiveness of the suggested controller is verified.

• 전기학회논문지
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• 제60권9호
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• pp.1754-1760
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• 2011

In this paper, a systematic design of a robust nonlinear multivariable variable structure controller based on state dependent nonlinear form is presented for the control of MIMO uncertain affine nonlinear systems with mismatched uncertainties and matched disturbance. After a MIMO uncertain affine nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a robust nonlinear variable structure controller is presented. To be linear in the closed loop resultant dynamics, the linear sliding surface is applied. A corresponding diagonalized control input is proposed to satisfy the closed loop global exponential stability and the existence condition of the sliding mode on the linear sliding surface, which will be investigated in Theorem 1. Through a design example and simulation study, the usefulness of the proposed controller is verified.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.253-256
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• 1996

In this paper, A new time-varying sliding surface design using eigenvalue locus is proposed to achieve fast and robust in a class of high-order uncertain dynamic system. A moving sliding surface(MSS) was proposed earlier for the second-order variable structure control systems(VSCS). This methodology led to fast and robust control responses of the second-order VSCS. However, the moving algorithm of the MSS was too complicated to be employed the high-order VSCS. To resolve this problem, we propose a new moving algorithm that switching surface moves such that the eigenvalues of equivalent system in the sliding mode have a predetermined locus. Using the proposed surface fast and robust behaviors are accomplished. The problem of chattering can be eliminated by using a boundary layer of switching surface. The efficiency of proposed algorithm is illustrated by an application to four-order workbench.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2003년도 봄 학술발표회 논문집
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• pp.477-484
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• 2003

Recently, sliding mode control(SMC) method has been investigated for control of building structures under earthquake loadings. SMC keeps responses of a structure in sliding surface while the structure is stable. This control method uses both linear controller and nonlinear controller such as bang-bang controller. This paper presents vibration control of a structure using saturated sliding mode controller, whose maximum conrtol force is limited. The effectiveness of SMC method with controler saturation is investigated based on two performance evaluation criteria: root mean square(RMS) and maximum values of floor drifts and accelerations. Simulation results indicate that SMC method is effective in reduction of displacement and acceleration utilizing the saturated controller's capacity efficiently.

• 전기학회논문지
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• 제59권2호
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• pp.411-416
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• 2010

In this paper, an integral variable structure static output feedback controller with an integral-augmented sliding surface is designed for the improved robust control of a uncertain system under unmatched system uncertainty and matched input matrix uncertainty and disturbance satisfying some conditions. To effectively remove the reaching phase problems, an output dependent integral augmented sliding surface is proposed. Its equivalent control and ideal sliding mode dynamics are obtained. The previous some limitations is overcome in this systematic design. A stabilizing control with the closed loop exponential stability is designed for all unmatched system matrix uncertainties and proved together with the existence condition of the sliding mode on S=0. To show the usefulness of the algorithm, a design example and computer simulations are presented.

• 소성∙가공
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• 제19권6호
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• pp.357-362
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• 2010

Dry sliding wear behavior of pure Fe and Cu which have BCC and FCC crystal structure, respectively, was investigated. The wear characteristics of the pure metals with different crystal structure were compared. Dry sliding wear tests were carried out using a pin-on-disk wear tester at various loads under the constant sliding speed condition of 0.15 m/s against a silica ball at room temperature. Sliding distance was fixed as 600 m for all wear tests. Wear rate of a specimen was calculated by dividing the weight loss of the specimen after the test by the specific gravity and sliding distance. Worn surfaces and wear debris were analyzed by SEM. The wear of both pure Fe and Cu proceeded with surface deformation, resulting in similar wear rates despite of their structure difference under the current test conditions. Wear rates of both metals were low if the surface deformation due to wear forms thick surface-deformation layer that is strain hardened beneath the wearing surface. The pure Cu specimens showed a lot of oxides on the worn surface when tested at low loads less than 5 N, which resulted in very low wear rate.

• Structural Engineering and Mechanics
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• 제78권3호
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• pp.333-350
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• 2021

Motivated by the demand of seismic protection of museum collections and development of performance-based seismic design guidelines, this paper investigates the seismic fragility of sliding artifacts based on incremental dynamic analysis and three-dimensional finite element model of the artifact-showcase-museum system considering nonlinear behavior of the structure and contact interfaces. Different intensity measures (IMs) for seismic fragility assessment of sliding artifacts are compared. The fragility curves of the sliding artifacts in both freestanding and restrained showcases placed on different floors of a four-story reinforced concrete frame structure are developed. The seismic sliding fragility of the artifacts within a real-world museum subjected to bi-directional horizontal ground motions is also assessed using the proposed IM and engineering demand parameter. Results show that the peak floor acceleration including only values initiating sliding is an efficient IM. Moreover, the sliding fragility estimate for the artifact in the restrained showcase increases as the floor level goes higher, while it may not be true in the freestanding showcase. Furthermore, the artifact is more prone to sliding failure in the restrained showcase than the freestanding showcase. In addition, the artifact has slightly worse sliding performance subjected to bi-directional motions than major-component motions.

• 드라이브 ㆍ 컨트롤
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• 제18권4호
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• pp.52-58
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• 2021

The variable structure controller is designed such that in sliding mode, the system moves along the switching plane in the vicinity of the switching plane, thus it is robust because it is not affected by the parameter fluctuations of the plant. However, a controller based on a variable structure may not meet the desired performance when it is commanded to track any input or is exposed to disturbances. This study proposes a sliding mode controller that follows the IVSC (Integral Variable Structure Control) approach with ELO (Extended Luenberger observer) to solve this problem. The proposed sliding mode control is applied to the velocity control of the hydraulic motor. The sliding plane was determined by the pole placement, and the control input was designed to ensure the existence of the sliding mode. The feasibility of modeling and controller are reviewed by comparing with conventional proportional-integral control through computer simulation using MATLAB software and experimenting on the cases of significant plant parameter fluctuations and disturbances.

• 전기학회논문지
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• 제59권6호
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• pp.1173-1178
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• 2010

In this note, a systematic design of a new robust nonlinear integral variable structure controller based on state dependent nonlinear form is presented for the control of uncertain more affine nonlinear systems with mismatched uncertainties and matched disturbance. After an affine uncertain nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a new robust nonlinear integral variable structure controller is presented. To be linear in the closed loop resultant dynamics and remove the reaching phase problems, the linear integral sliding surface is suggested. A corresponding control input is proposed to satisfy the closed loop exponential stability and the existence condition of the sliding mode on the linear integral sliding surface, which will be investigated in Theorem 1. Through a design example and simulation studies, the usefulness of the proposed controller is verified.

• 전기학회논문지
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• 제59권5호
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• pp.945-949
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• 2010

In this paper, a systematic design of a new robust nonlinear variable structure controller based on state dependent nonlinear form is presented for the control of uncertain affine nonlinear systems with mismatched uncertainties and matched disturbance. After an affine uncertain nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a new robust nonlinear variable structure controller is presented. To be linear in the closed loop resultant dynamics, the linear sliding surface is applied. A corresponding control input is proposed to satisfy the closed loop exponential stability and the existence condition of the sliding mode on the linear sliding surface, which will be investigated in Theorem 1. Through a design example and simulation study, the usefulness of the proposed controller is verified.