• The Transactions of the Korean Institute of Electrical Engineers B
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• v.54 no.1
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• pp.40-46
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• 2005

This paper has investigated the speed sensorless indirect vectorcontrol of a two-phase induction motor to implement adjustable-speed drive for low-power applications. The sliding mode observer estimates rotor speed. The convergence of the nonlinear time-varying observer along with the asymptotic stability of the controller has been analyzed. To define the control action which maintains the motion on the sliding manifold, an "equivalent control" concept is used. It has been simulated and implemented on a sensorless indirect vector drive for 150W two-phase induction motor. The simulation and experimental results demonstrate effectiveness of the estimation method.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.161-163
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• 2005

This paper is concerned with an Adaptive Fuzzy Sliding Mode Control(AFSMC) that the fuzzy systems are used to approximate the unknown functions of nonlinear system. In the adaptive fuzzy system. we adopt the adaptive law to approximate the dynamics of the nonlinear plant and to adjust the parameters of AFSMC. The stability of the suggested control system is proved via Lyapunov stability theorem. and convergence and robustness properties are demonstrated. The simulation results demonstrate that the performance is improved and the system also exhibits stability.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.661-667
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• 2010

This paper presents a failure diagnosis and accommodation strategy which is capable of tolerating faulty actuators of a submersible vehicle. The proposed method is mainly based on a sliding mode control technique. The primary ideas include a performance index to describe the effectiveness of actuators, and a controller reconfiguration strategy using the actuator effectiveness index. The actuator effectiveness proposed in this work is defined as the relationship between the sliding surface and the controlled system behavior. The resulting actuator effectiveness is then used in reconfiguring the controller in order to counteract for the deteriorated control performance in the presence of a faulty actuator. The effectiveness of the proposed method is demonstrated by means of numerical simulations with a submersible vehicle.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1718-1719
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• 2007

In this paper, a fuzzy sliding mode control that combines with a adaptive self-regulating technique is proposed for manipulators with uncertainties. Especially the system uncertainties is approximated using fuzzy rule adaptation technique. The proposed controller is composed of the equivalent control that includes the approximation of the system uncertainties and the hitting control that is used to constrain the states of the system to maintain on the sliding surfaces and used to guarantee the system robustness. Simulation results are presented to show the effectiveness of the proposed controller

• Proceedings of the IEEK Conference
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• 2004.08c
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• pp.622-627
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• 2004

This paper investigated the speed sensorless indirect vector control of a two-phase induction motor to implement adjustable-speed drive for low-power applications. The sliding mode observer estimates rotor speed. The convergence of the nonlinear time-varying observer along with the asymptotic stability of the controller was analyzed. To define the control action which maintains the motion on the sliding manifold, an 'equivalent control' concept was used. It was simulated and implemented on a sensorless indirect vector drive for 150W two-phase induction motor. The simulation and experimental results demonstrated effectiveness of the estimation method.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.41-46
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• 1987

A new control scheme is developed to achieve fast and accurate decoupled tracking for an n-Joint robotic manipulator In the Presence of disturbances and unknown Parameter variations. The control system is designed so that a new type of state trajectories called sliding mode may exist in a phase plane. In order to remove the reaching Phase and high frequency chattering phenomenon which ate the common shortcomings of variable structure control(VSC) scheme, this paper presents the new switching line which is composed of three segments and the continuous control law which is derived from the existence condition of a sliding mode. The Proposed methods in this Paper are applied to a 3-Joint robotic manipulator as a numerical example-The digital simulation results which are compared with those of typical VSC scheme show the validity of accurate tracking capability and robust Performance of the system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.501-501
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• 2000

In this paper, the theoretical development to stabilize a class of uncertain time-delay systems via sliding mode control is presented. The system under consideration is described in state space model containing state delay, uncertain parameters and disturbance. The main idea is to reduce the state of delayed system, by employing the generalize linear transformation, into an equivalent one with no delay inside, which is easier to analyze its behavior and stability. Then, the sliding control approach is employed to find the stabilizing control law. Finally, a numerical simulation is illustrated to show the algorithm for applying the proposed theorems and the efffetiveness of the designed control law in stabilizing the controlled systems.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.1
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• pp.47-57
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• 1991

A new control algorithm so called equal excursion sliding mode (EESM) control method is proposed to control the position of DC servo motor. This method introduces the concept of phase velocity vector that Filippov presented, and simplifies the problem of control gain selection in a conventional VSC strategy. And, by making state trajectories have equal excursions on both sides of switching hyperplane we minimized the probability of sliding mode's being collapsed, and approximated to the ideal sliding moed. Also, we proved the validity of this method by comparing the application results of this method to DC servo motor with those of conventional VSC strategy.

• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.60-63
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• 1988

An adaptive model following controller is designed using the theory of variable structure systems. The proposed method allows the designer to satisfy the requirements of short sliding plane reaching time and chattering reduction in the sliding mode. This method is based on the modified condition for the sliding mode. The result of computer simulation shows that state trajectories reach switching plane fast and chattering is reduced.

• ETRI Journal
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• v.40 no.5
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• pp.653-663
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• 2018

Patients with spinal cord injuries cannot move their limbs using their intact muscles. A suitable controller can be used to move their arms by employing the functional electrical stimulation method. In this article, a fuzzy exponential sliding-mode controller is designed to move a musculoskeletal human arm model to track an optimal trajectory in the sagittal plane. This optimal arm trajectory is obtained by developing a policy for the central nervous system. In order to specify the optimal trajectory between two points, two dynamic and static optimal criteria are applied simultaneously. The first dynamic objective function is defined to minimize the joint torques, and the second static optimization is offered to minimize the muscle forces at each moment. In addition, fuzzy logic is used to tune the sliding-surface parameter to enable an appropriate tracking performance. Simulation results are evaluated and compared with experimental data for upward and downward movements of the human arm.