• International Journal of Precision Engineering and Manufacturing
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• v.2 no.2
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• pp.48-56
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• 2001

This paper presents the position tracking control of a closed-loop cylinder system using electro-rheological (ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system, Sliding mode controllers are the designed for these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.6
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• pp.471-477
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• 2000

The position control accuracy of a robot arm is significantly deteriorated when a long arm robot is operated at a high speed. In this case, the robot arm must be modeled as a flexible structure, not a rigid one, and its control system should be designed with its elastic modes taken into account. In this paper, the tip position control scheme of a one-link flexible manipulator using 2-DOF controller with sliding mode is presented. The robot consists of a flexible arm manufactured with a thin aluminium plate, an AC servo motor with a harmonic drive for speed reduction, an optical encoder and a CCD camera as a vision sensor for on-line measuring the tip deflection of the flexible m. Simulation and experimental results of the flexible manipulator with a proposed controller are provided to show the effectiveness of the controller.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.165-173
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• 2000

This Paper presents the position tracking control of a closed-loop cylinder system using electro-rheological(ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-of-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system. Sliding mode controllers are then designed fer these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.6
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• pp.58-63
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• 2010

In this paper, distributed tension observer for R2R process is proposed. The minimal order observer theory is utilized to design the distributed tension observer. The proposed method estimates the tension of a specific sub-process based on the speed and tension information from its adjacent sub-processes. Utilizing its properties, the proposed method can be applied to decentralized control structure. In order to achieve high estimation accuracy, sliding mode technique is also adopted to the proposed method.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.233-236
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• 2002

We consider a single-input-single-output nonlinear system which can be represented in a normal form. The nonlinear system has a modeling uncertainties including the input coefficient uncertainties. A high-gain observer is used to estimate the states variables to reject a modeling uncertainty. A globally bounded output feedback integral sliding mode control is proposed to stabilize the closed loop system. The proposed integral sliding mode control can asymptotically stabilize the closed loop system in the it presence of input coefficient uncertainty.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.1
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• pp.43-50
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• 1989

In this paper we present a new approach to control system design for multivariable systems using a sliding mode. In the applications of variable structure system (VSS) theory to multivariable systems, there exist some difficulties such as how to determine switching gains and how to reduce chattering phenomena in input and state trajectories. To cope with these drawbacks we introduce switching dynamics instead of switching logics to obtain the sliding mode. Consequently, we can obtain the new design approach which is much simpler than the VSS theory, And there do not exist chattering phenomena in this method because the obtained control inputs are continuous. Hierarchical control concepts are used to the control system design. Numerical examples are discussed as illustrations.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2255-2257
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• 2001

This paper introduces a indirect rotor position and speed estimation algorithm for the SRM(switched reluctance motor) sensorless control, based on the sliding mode observer. The information of position and speed is generally provided by encoder or resolver. However, the position sensor not only adds complexity, cost, and size to the whole drive system, but also causes limitation for industrial applications. In this paper, in order to eliminate the position sensor, indirect position sensing method using sliding mode observer is used for SRM drives. And this observer parameters are optimized by evolutionary algorithm. PI controller is also optimized for the SRM to track precisely using evolutionary algorithm.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2081-2083
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• 2001

In this paper, without mathematical modeling dynamics, the plant parameter in sliding mode are estimated by the indirect adaptive fuzzy control. Adaptive laws for fuzzy parameters and fuzzy rule structure are established so that the whole system is stable in the sense of Lyapunov stability. The computer simulation results for inverted pendulum system show the performance of the proposed fuzzy sliding mode controller.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.7
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• pp.1152-1158
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• 2004

In this paper, a trajectory tracking problems using SMC(sliding mode control) is presented. In the conventional method. SMC has been applied to linear systems and the output matrix C has to satisfy a restrictive condition that CB is nonsingular. Under suitable assumptions, decoupling SMC can be adapted to remove the restriction mentioned above. The Proposed control strategy is applied to trajectory tracking control and simulations results are given to demonstrate the effectiveness of the proposed control scheme.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.3
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• pp.369-378
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• 1999

This paper presents position control of an electro-hydraulic servo system whoch is operated by four 2-2way high speed on-off valves with either PWM PID control method or sliding mode control method, The advantages of using high speed on-off valves instead of electo-hydraulic servo valves or electro-hydraulic proportional valves are low price robustness for oil contamination and direct control without a D/A converter. The system consists of load cylinder inertia car potentiometer and external load cylinder. The experiments were carried out under several conditions and the results were compared. As a result the sliding mode method has shown good control performance and the robust and stable positioning of the elector-hydraulic servo system can be achieved accurately.