• 제어로봇시스템학회논문지
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• 제3권2호
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• pp.162-168
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• 1997

Digital variable structure controller(DVSC) is implemented to control the temperature for the hot water heating circulating pump control system. For the DVSC, a control algorithm is suggested, which using a nonlinear sliding surface and a PID sliding surface outside and inside of steady state error boundary layer, respectively. Smith predictor algorithm is used for the compensation of long dead time. The DVSC of the suggested algorithm yields improved control performance compared with the one of existing algorithm. The system responses with the suggested DVSC shows good responses without overshoot and steady state error inspite of heating load change. By decreasing sampling time, dead time and rise time are increasing, and system output noise by flow dynamics is amplified.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.842-847
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• 2008

This paper proposes a new sliding-surface-based tracking control system for nonholonomic mobile robots with disturbance. To design a robust controller, we consider the kinematic model and the dynamic model of mobile robots with disturbance. We also propose a new sliding surface to solve the problem of previous study. That is, since the new sliding surface is composed of differentiable functions unlike the previous study, we can obtain the control law for arbitrary trajectories without any constraints. From the Lyapunov stability theory, we prove that the position tracking errors and the heading direction error converge to zero. Finally, we perform the computer simulations to demonstrate the performance of the proposed control system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.151.5-151
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• 2001

Sliding mode control is investigated for a discrete-time system with uncertainties. The narrowest neighborhood of the sliding surface is shown in which the state can remain. The range is determined by the upper bound of the absolute value of the uncertainty and the equation of the sliding surface. A sliding mode control algorithm is proposed to keep the state there without requiring an enormous input. Under the presence of the system parameter variations, the origin is not always stable although the sliding surface represents the stable dynamics and the state is kept in this neighborhood. The condition for the origin to be stable is investigated. Furthermore, the problems occurring when a continuous-time sliding mode control being ...

• 제어로봇시스템학회논문지
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• 제19권6호
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• pp.495-500
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• 2013

This paper proposes a double sliding surfaces based on a sliding mode control for a tracking control of nonholonomic mobile robots in the Cartesian coordinates. In order to remove sliding surface constraints, we design the additional sliding surface for the heading angle with respect to the newly defined coordinates. Then, we define the switching law based on the posture error to combine the designed sliding surface with the previous one. By using the double sliding surfaces and the switching law, we obtain the control law for arbitrary trajectories. It is proved that the position tracking error and the heading direction error asymptotically converge to zero, respectively, with the Lyapunov stability theory. Finally, through computer simulations, we demonstrate the effectiveness of the proposed control system.

• KSTLE International Journal
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• 제6권2호
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• pp.51-57
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• 2005

Surface texturing of tribological applications is an attractive technology of engineered surface. Therefore, reduction of friction is considered to be necessary for improved efficiency of machines. The current study investigated the potential of textured micro-scale grooves on bearing steel flat mated with pin-on-disk. We discuss reducing friction due to the influence of sliding direction at surface pattern. We can indicate lubrication mechanism as a Stribeck curve, which has a relationship between the friction coefficient and a dimensionless parameter for the lubrication condition. It was found that the friction coefficient was changed by the surface pattern and sliding direction, even when surface pattern was the same. It was thus verified that micro-scale grooves could affect the friction reduction considerably under mixed and hydrodynamic lubrication conditions. The lubrication regime influences the friction coefficient induced by the sliding direction of groove pattern. The friction coefficient depends on a combination of resistance force and hydrodynamic.

• 대한기계학회논문집A
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• 제27권12호
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• pp.2019-2027
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• 2003

Pitting wear is a dominant from of polyethylene surface damage in total knee replacements, and may originate from surface cracks that propagate under repeated tribological contact. In this study, stress intensity factors, K$\_$I/and $_{4}$, were calculated for a surface crack in a polyethylene-CoCr-bone system under the rolling and/or sliding contact pressures. Crack length and load location were considered in determination of probable crack propagation mechanisms and fracture modes. Positive K$\_$I/ values were obtained for shorter cracks in rolling contact and for all crack lengths when the sliding load was apart from the crack. $_{4}$ was the greatest when the load was directly adjacent to the crack (g/a=${\pm}$1). Sliding friction caused a substantial increase of both K$\_$I/$\^$max/ and $_{4}$$\^$max/. The effective Mode I stress intensity factors, K$\_$eff/, were the greatest at g/a=${\pm}$1, showing the significance of high shear stresses generated by loads adjacent to surface cracks. Such behavior of K$\_$eff/ suggests mechanisms for surface pitting by which surface cracks may propagate along their original plane under repeated rolling or sliding contact.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1222-1227
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• 2003

Pitting wear is a dominant form of polyethylene surface damage in total knee replacements, and may originate from surface cracks that propagate under repeated tribological contact. In this study, stress intensity factors, $K_{I}$ and $K_{II}$, were calculated for a surface crack in a polyethylene - CoCr - bone system under the rolling and/or sliding contact pressures. Crack length and load location were considered in determination of probable crack propagation mechanisms and fracture modes. Positive $K_{I}$ values were obtained for shorter cracks in rolling contact and for all crack lengths when the sliding load was apart from the crack. $K_{II}$, was the greatest when the load was directly adjacent to the crack $(g/a={\pm}1)$. Sliding friction caused a substantial increase of both $K_{I}^{max}$ and $K_{II}^{max}$. The effective Mode I stress intensity factors, $K_{eff}$, were the greatest at $g/a={\pm}1$, showing the significance of high shear stresses generated by loads adjacent to surface cracks. Such behavior of $K_{eff}$ suggests mechanisms for surface pitting by which surface cracks may propagate along their original plane under repeated rolling or sliding contact.

• Tribology and Lubricants
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• 제5권2호
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• pp.83-86
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• 1989

A wear transition mechanism during sliding in glass has been observed. Disk specimens of sodalime-silicate glass were slid against AISI 52100 steel with paraffin oil as lubricant. Observations of the micrrx structural change on the worn surface showed that semi-circular cone cracks (SCCCs) were suddenly produced after a certain critical sliding time. These SCCCs brought about the severe damage in the form of extensive microchipping during further sliding. It was shown that the abrupt appearance of the SCCCs is attributable to the grooves formed during sliding, which act as surface flaws.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.216-220
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• 1999

In this paper, the feedback linearization technique is used with the sliding mode control for nonlinear system. The combination of these two control techniques can be achieved by proposing a novel sliding surface which has the nonminal dynamics of the original system controlled by feedback linearization technique. The noble design of the sliding surface is based on the augmented system whose dynamics have a higher order than that of the original system. The reaching phase is removed by using an initial virtual state which makes the initial sliding function equal to zero

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.345-345
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• 2000

This paper introduces a new design approach for robust sliding-mode control of a class of mismatched uncertainties. For this, we propose a design method of sliding-mode surface using eigenstructure assignment to be insensitive to perturbation in sliding-mode systems, and also find a formula which is shown bounds of mismatched uncertainties for stability of the system. Simulation results are given to illustrate the approach proposed in this paper.