• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
• /
• pp.111-116
• /
• 1998

This paper proposes a robust control using a sliding mode controller and a fuzzy controller. Having the excellent transient response, the sliding mode controller has the poor steady state response, but the fuzzy controller has a good steady state reponse. A proposed controller combined these controllers has the quick response at the initial condition without the errors. The proposed robust nonlinear controller takes the advantage of the fuzzy controller and is the rapid and the stable response in conditions that the sliding mode controller keeps the errors at the steady state. The performance of proposed method is proved by simulation of the inverted pendulum.

• Nuclear Engineering and Technology
• /
• 제47권1호
• /
• pp.94-101
• /
• 2015

This paper presents findings on the second-order sliding-mode controller for a nuclear research reactor. Sliding-mode controllers for nuclear reactors have been used for some time, but higher-order sliding-mode controllers have the added advantage of reduced chattering. The nonlinear model of Pakistan Research Reactor-1 has been used for higherorder sliding-mode controller design and performance evaluation. The reactor core is simulated based on point kinetics equations and one delayed neutron groups. The model assumes feedback from lumped fuel and coolant temperatures. The effect of xenon concentration is also considered. The employed method is easy to implement in practical applications, and the second-order sliding-mode control exhibits the desired dynamic properties during the entire output-tracking process. Simulation results are presented to demonstrate the effectiveness of the proposed controller in terms of performance, robustness, and stability.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2000년도 춘계학술대회 학술발표 논문집
• /
• pp.51-54
• /
• 2000

In variable structure control algorithm, sliding mode makes the closed loop system insensitive to modelling uncertainties and external disturbances. However due to imperfections in switching, the system trajectory chatters, which is very undesirable. And the insensitivity property of a sliding mode controller is present only when the system is in the sliding mode. To overcome these shortcomings, in this paper, new sliding mode control algorithm using time-varying sliding surface and fuzzy PI structrue is proposed.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.188-191
• /
• 1996

In this paper, we derive dynamic equation of double pole inverted pendulum using Lagrangian equation, and design the fuzzy sliding mode controller. We demonstrate that the designed controller regulates double pole simultaneously regardless of cart position by computer simulation.

• 한국융합학회논문지
• /
• 제4권2호
• /
• pp.43-50
• /
• 2013

Sliding mode control(SMC) are carried out in this literature. And to make the controllers perform better, fuzzy logic was chosen,it makes PID controller auto-tuning parameters and reduced the chattering problem of sliding mode control. Since SMC take error and derivative of error as inputs, after comparison some results are obtained.PID controller response faster yet sliding mode control is much steadier. However certain problems cannot be ignored that the chattering phenomenal cannot be reduced entirely and this motion may hurt the machine; this project only considered a simple system, there is no guarantee PID can work as well as in this case for a much more complex system. MATLAB simulink was the main approach to obtain the performance of the two controllers: to observe the control output of the two controllers, electric circuit and special controllers are designed and tested in MATLAB.

• 제어로봇시스템학회논문지
• /
• 제3권1호
• /
• pp.40-45
• /
• 1997

A robust disturbance rejection controller for the hovering motion of underwater vehicles in near the surface of sea is presented. The suggested controller consists of two control parts, the one is disturbance observer for taking into account the effects of sea wave and missile-launching forces, and the other is sliding mode controller for the robust stability of underwater vehicles with model uncertainties and nonlinearities. It is shown that the sliding mode control system with disturbance observer is more effective compared with the sliding mode control system, especially in case that large sea wave force is affected.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.646-651
• /
• 2004

This paper deals with a new adaptive fuzzy sliding mode controller and its application to an inverted pendulum. We propose new method of adaptive fuzzy sliding mode control scheme that the fuzzy logic system is used to approximate the unknown system functions in designing the SMC of uncertain nonlinear systems. The controller's construction and its analysis involve sliding modes. The proposed controller consists of two components. Sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum. The results show that both alleviation of chattering and performance are achieved

• 제어로봇시스템학회논문지
• /
• 제10권4호
• /
• pp.304-311
• /
• 2004

In this paper we present a technique of discrete-time sliding mode controller design for assigning eigenvalues of sliding mode and determining a convergence rate to sliding surface. First the sliding mode coefficient is designed via Ackermann s formula. Then a linear controller is designed to enforce sliding mode such that the resulting closed loop yields the desired eigenvalues. As we use a linear control instead of nonlinear control, chattering is nearly eliminated. Simulation and experimental results are included to show the effectiveness of the proposed method for Laser Marking System.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.625-628
• /
• 1997

In this paper the new neural network and sliding mode suspension controller is proposed. That neural network is error self-recurrent neural network. For fast on-line learning, this paper use recursive least squares method. A new neural networks converges considerably faster than the backpropagation algorithm and has advantages of being less affected by the poor initial weights and learning rate. The controller for suspension systems is designed according to sliding mode technique based on new proposed neural network.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2006년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
• /
• pp.176-178
• /
• 2006

This paper is intended to research the speed response of switched reluctance motor (SRM) using sliding mode control method when load is changing. The simulation compare only control by PI controller with control by PI controller and sliding mode controller. It compare with speed response using MATLAB/SIMULINK.