• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.2
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• pp.92-101
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• 2000

The objective of this paper is to design the controller for longitudinal vehicle following which makes the vehicle follow the lead vehicle and keeps a safety distance without human driver operation. This paper presents a sliding mode control algorithm for the ACC system. The controller is based on three sliding surfaces. Each surface plays an individual control-deviation control, throttle control and brake control. In addition to sliding mode control, we propose some additional schemes to enhance controller performance. The first one is a gear shift-down controller which makes tractive force increase with a change of gear ratio. The other is a predictive correction method which reduces slinky effect.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.506-506
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• 2000

To improve control performance of a non-linear system, many other researches have used the sliding mode control algorithm. The sliding mode controller is known to be robust against nonlinear and unmodeled dynamic terms. However. this algorithm raises the inherent chattering caused by excessive switching inputs around the sliding surface. Therefore, in order to solve the chattering problem and improve control performance, this study has developed the sliding mode controller with a perturbation estimator using the observer-based fuzzy adaptive network generates the control input for compensating unmodeled dynamics terms and disturbance. And, the weighting parameters of the fuzzy adaptive network are updated on-line by adaptive law in order to force the estimation errors to converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluating control performance of the proposed approach. tracking control simulation is carried out for the hydraulic motion simulator which is a 6-degree of freedom parallel manipulator.

• Journal of Power Electronics
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• v.18 no.6
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• pp.1708-1719
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• 2018

A complete current loop decoupling control strategy based on a sliding mode observer (SMO) is proposed to eliminate the influence of current dynamic coupling and back electromotive force (EMF) in the vector control of permanent magnet synchronous motors. With this strategy, current dynamic decoupling and back EMF compensation can be simultaneously achieved. Unlike conventional methods, the proposed strategy can avoid the disturbances caused by the parametric variations of motor systems and maintain the advantages of proportional integral (PI) controllers, which are robust and easy to operate. An improved SMO, which uses a special PI regulator other than a linear saturation function as the equivalent control law in the boundary layer of a sliding surface, is proposed to eliminate the estimated errors caused by the quasi-sliding mode and obtain a satisfactory decoupling performance. The stability and parameter robustness of the proposed strategy are also analyzed. Physical experimental results are presented to verify the validity of the method.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.11-18
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• 2003

The parametric approaches to sliding mode design are newly proposed for the class of multivariable systems. Our approach is based on an explicit formula for representing all the slid-ing modes using the Lyapunov matrices of full order. By manipulating Lyapunov matrices, the sliding modes which satisfy the design criteria such as the quadratic performance optimization and robust stability to parametric uncertainty, etc., can be easily obtained. The proposed ap-proach enables us to adopt a variety of Lyapunov- (or Riccati-) based approaches to the sliding mode design. Applications to the quadratic performance optimization problem, uncertain systems, systems with uncertain state delay, and the pole-clustering problem are discussed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.2
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• pp.357-364
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• 2002

A new chattering free sliding made control is proposed for robot manipulators. The control input is derived from the reaching law and the Lyapunov stability criteria, which is only composed of continuous terms. It has a chattering free characteristics and a concise farm. In implementing procedures, no change of equations is needed. Thus, it does not degrade the original merits of the sliding mode control. And it is applied to a 2-link SCARA robot manipulator. It is shown that the proposed control has good trajectory tracking performance compared with the PD control and the conventional sliding mode control which uses the boundary layer concept.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.103.1-103
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• 2002

In variable structure control algorithms, The control law used to realized the desired sliding mode dynamics is discontinuous on the switching manifold. However, due to imperfections in switching, such as time delays, the system trajectory chatters instead of sliding along the switching manifold. This chattering is undesirable because it may excite unmodeled high frequency dynamics in the physical system. In this paper, to overcome this drawback a self-organizing fuzzy sliding mode control algorithm using gradient descent method is proposed. The proposed method has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of disturbance, parameter variations and uncertainties ill the sliding mode. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum system. The results show that both alleviation of chattering and performance are achieved.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.4
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• pp.351-361
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• 2001

In this paper, a generalized framework called as robust internal-loop compensator(RIC) is presented, and by using this, a structural design method of sliding of sliding mode controller is proposed. First, a general sliding mode controller is derived and a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, RIC is proposed. Next, using the structural characteristics of the proposed RIC, disturbance attenuation characteristics are analyzed and the performance of the closed-loop system is predicted. Through this analysis, it is shown that if the control gain of RIC is increased by N times, the magnitude of error is reduced to its 1/N. the proposed method is verified through experiments using a high-precision positioning system and the performance is evaluated.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.339-349
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• 2017

In this paper, we present a finite-time sliding mode control (FSMC) with an integral finite-time sliding surface for applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic property of the WMR system are considered simultaneously to design a finite-time sliding mode controller. Next, consensus and formation control laws for distributed WMR systems are derived by using the graph theory. The kinematic and dynamic controllers are applied simultaneously to compensate the dynamic effect of the WMR system. Compared to the conventional sliding mode control (SMC), fast convergence is assured and the finite-time performance index is derived using extended Lyapunov function with adaptive law to describe the uncertainty. Numerical simulation results of formation control for WMR systems shows the efficacy of the proposed controller.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1784_1785
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• 2009

This paper presents sliding mode control and optimal control techniques for controlling the speed of permanent magnet synchronous motor. Virtual sliding surface has nominal dynamics of an original system. The performance of the system with sliding mode control and optimal control is compared with the response of the nominal system. As a result, the sliding mode control and optimal control has robustness against the system uncertainties.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.6
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• pp.1-7
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• 2003

This paper introduces a robust sliding mode repetitive control method for a class of nonlinear system. The sliding mode controller stabilizes the overall system and makes the tracking error converge to some residual set. Also, tile repetitive learning controller makes the tracking error converge to zero. Unlike other methods, the proposed sliding mode controller reduces the chattering effects in the steady state without using high-order sliding manifold approach.