• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.35.1-35
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• 2002

$\textbullet$ Sliding mode control (SMC) with nonlinear interpolation in variable boundary layer (VBL) is proposed $\textbullet$ A sigmoid function is used for nonlinear interpolation in VBL. $\textbullet$ The Parameter of the sigmoid function is tuned by fuzzy controller $\textbullet$ The choice of parameter for the sigmoid function is guided by FC. $\textbullet$ The parameter is continuously updated as boundary layer thickness varies. $\textbullet$ The proposed method hasbetter tracking performance than the conventional linear interpolation $\textbullet$ To demonstrate its performance the proposed control algorithm is applied to a nonlinear system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2143-2145
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• 2002

This paper proposes the control problem of an inverted pendulum system based on adaptive fuzzy sliding mode. The universal approximating capability, learning ability, adaptation capability and disturbance rejection are collected in one control strategy. The proposed scheme does not require an accurate dynamic model and the joint acceleration measurement, yet it guarantees asymptotic trajectory tracking. Experimental results perform with an inverted pendulum to show the effectiveness of the approach.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 C
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• pp.967-969
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• 1998

In this paper, the proposed controller is obtained by combining the nonlinear feedback linearization-sliding mode controller (NFL-SMC) with the full order observer (FOO) and eliminates the need to measure all the state variables in the conventional NFL-SMC.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 A
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• pp.297-299
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• 1995

In this paper, a disturbance observer with binary control is proposed to suppress the chattering of sliding mode observer in estimation of the external disturbance. Binary control has the properly of chattering alleviation in addition to advantages of the conventional sliding mode control. As a simulation result, it is confirmed that the robust and high precision position control is possible by the proposed binary observer.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.272-275
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• 1997

When a manipulator makes contact with an object having position uncertainty, performance measures vary considerably with the control law. To achieve the optimal solution for this problem, an unique objective function that weights time and impact force is suggested and is solved with the help of variational calculus. The resulting optimal velocity profile is then modified to define a sliding mode for the impact and force control. The sliding mode control technique is used to achieve the desired performance. Sets of experiments are performed, which show superior performance compared to any existing controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.458-463
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• 1997

In this paper, we propose a variable structure control approach for the system with matched and unmatched uncertainty. By using time-varying sliding mode, the reaching mode is removed, and the design methodology represents a realistic design approach with quadratic criterion for systems incorporating both matched and unmatched uncertainties. The criterion contains states and linear part of input for all time. The practical application of the control strategy is presented in the design of a stability augmentation system for an aircraft is presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1414-1417
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• 2003

In this paper, sliding mode controller for discrete-time nonlinear systems with uncertainties and disturbances are proposed. The concept of time-delay control (TDC) which consists of estimating the uncertain dynamics of the system through past observations of the system response is used. The proposed controller guarantees that the closed-loop system states are globally uniformly ultimately bounded (GUUB). It is also shown that the closed-loop system states are globally uniformly asymptotically stable (GUAS) if uncertainties are constant.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1031-1035
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• 1993

In this paper, we suggest a new algorithm diminishing the chattering in sliding mode control by setting a dead-band along the switching line on the phase plane although nonlinear terms of an nonlinear system are regarded as disturbances and apply this algorithm to the trajectory control of SCARA robot By this algorithm, we can expect the high performance of the trajectory trajet of an industrial robot which needs a robust and simple algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.540-545
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• 1993

When modeling an underwater vehicle uncertainty arises in the presence of unsteady flow. It is difficult to include the uncertainty in the model and is therefore desirable to investigate robust controller design methods for the underwater vehicle. In the paper two robust control methods are applied for the underwater system. One is standard H$_{\infty}$ control and the other is time-varying sliding mode control with modified saturation function. Suboptimal design parameters for H$_{\infty}$ control and design parameters for time-varying switching surfaces are provided. Simulations and comparison are carried out.t.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.216-216
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• 2000

In this paper, we introduce a new roadway-departure prevention algorithm and the developed Hardware-in-the-Loop-Simulator (HiLS) for applying the new algorithm. A sliding-mode controller is used for lateral position control. And, the HiLS consists of real car elements, a micro-control board, and a self-aligning torque generator Finally from the display module, the perspective view and bird view of the animated vehicle can be seen simultaneously.