• 전력전자학회:학술대회논문집
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• 전력전자학회 2011년도 전력전자학술대회
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• pp.569-570
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• 2011

In this paper, position control method using improved sliding mode controller for SPMSM in elevator system is proposed. Since the improved sliding mode controller has a feature following prescribed sliding trajectory, it is robust in parameter fluctuation and able to minimize the over shoot. The controller is judged sutiable for the drive system of elevators on the basis of PSIM simulations.

• 제어로봇시스템학회논문지
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• 제17권9호
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• pp.869-874
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• 2011

This paper addresses the trajectory tracking problem for ship berthing by using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and robust performance with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

• Journal of information and communication convergence engineering
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• 제4권3호
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• pp.118-122
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• 2006

In this paper, a sliding mode control method with uncertainty adaptation is proposed by introducing the virtual state. Because upper bound of the uncertainty is very difficult to know, we estimate this by using the simple adaptation law and design the sliding surface which has dynamic of nominal system. An optimal controller is used by nominal controller. And if initial values of the virtual state are chosen properly, the reaching phase is removed.

• 조명전기설비학회논문지
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• 제24권2호
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• pp.39-43
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• 2010

본 논문에서는 불확실한 다변수 시스템을 위한 적응 슬라이딩 모드 제어기의 LMI 기반 설계방법이 제시된다. LMI를 사용하여 슬라이딩 평면의 존재조건을 구한다. 그리고 외란의 놈 경계치를 추정하고 안정성을 보장할 적응 스위칭 궤환 제어기 알고리즘을 제시한다. 마지막으로 제안된 방법의 유효성을 보이기 위해 크레인 모델을 제어하기 위한 설계 예를 제시한다.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.625-628
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• 2011

This paper presents an LMI-based method to design an integral sliding mode controller for a class of uncertain systems with unmatched uncertainties. The uncertain system under consideration may have unmatched parameter uncertainties in the state matrix as well as in the input matrix. Using LMIs an existence condition of a sliding surface is derived. And a switching feedback control law is given. Finally, numerical examples are given to show that the proposed method can be better than the existing results for some cases.

• 제어로봇시스템학회논문지
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• 제16권1호
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• pp.1-4
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• 2010

Based on the sliding mode control theory, a decentralized controller design method is developed for a large scale system with a poly topic model. In terms of LMIs, we derive sufficient conditions for the existence of the decentralized controller guaranteeing a stable sliding motion. We also give an LMI-based control design algorithm. Finally, the proposed method is applied to decentralized stabilization of double-inverted pendulums. Simulation results show that our method gives not only the robust stability but perfect rejection of norm-bounded uncertainties.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.773-776
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• 1995

Sliding Mode Controller is largely used to control holy nonlinear system such as robot manipulator. This paper simulate the SCARA robot with sliding mode control algorithm and its applied form with saturation term to reduce chattering. In addition, hardware system using DSP board which operates with high speed is constructed.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.232-235
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• 2008

This paper presents an LMI-based method to design reduced order observers by which we can substitute full order sliding mode observers for a class of uncertain time-delay systems. We show that a reduced order observer can be constructed as long as the uncertain system satisfies the previous LMI existence conditions of a full order sliding mode observer. And we give explicit formulas of the reduced order observer gain matrices. Finally, we give a simple LMI-based design algorithm, together with a numerical design example.

• 전자공학회논문지B
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• 제31B권5호
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• pp.58-64
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• 1994

In this paper, a robust control scheme of a nonlinear system with norm bounded uncertainty is studied. The proposed algorithm is based on variable structure systems (VSS) theory. the sliding mode which is robust to plant uncertainty and disturbances is obtained by regulating a sliding surface equation. This VSS control law can improve the robustness of control systems by adjusting the minimum reaching velocity in a reaching phase. A numerical example is given to verify the effectiveness of the control law.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 C
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• pp.979-981
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• 1998

This paper presents a stability proof for the nonlinear feedback linearization-observer/sliding mode model following controller (NFL-O/SMMFC). The separation principle is derived, and the closed-loop stability is proved by a Lyapunov function candidate using an addition form of the sliding surface vector and the estimation error.