• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.2 s.95
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• pp.169-175
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• 2005

In this paper, a novel vibration control scheme for a single-link flexible manipulator system without using a vibration feedback sensor is proposed. In order to achieve the vibration information of the flexible link, a reaction moment estimator based on the dynamic characteristics of the flexible manipulator is proposed. While the manipulator is maneuvering the reaction moment is reciprocally acting on the flexible link and the hub inertia due to the vibration of the link. A sliding mode controller based on the equivalent rigid body dynamics corresponding to the proposed flexible manipulator is then augmented with the reaction moment estimator to realize a decentralized control system. The reaction moment estimator is implemented via the first order low pass filter. The performance of the proposed control scheme is verified by computer simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.166.6-166
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• 2001

An attitude control of an air vehicle based on the variable structure control is proposed. For an air vehicle, minimum weight is required. Thus, it is desired to reduce the input energy. The optimal state portrait curve using time-varying sliding surface is proposed to reduce the control energy. Tracking performance of the closed loop system is guaranteed under the existence of parameter variation and external disturbances.

• Proceedings of the IEEK Conference
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• 1999.11a
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• pp.703-706
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• 1999

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagragian assumed modes method based on Bernoulli-Euler beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoptation of a continuous control law within a small neighborhood of the switching hyperplane.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.1
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• pp.51-57
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• 2011

Information of the lateral velocity and the sideslip angle in a vehicle is very useful in many active vehicle safety applications such as yaw stability control and rollover prevention. Because cost-effective sensors to measure the lateral velocity and the sideslip angle are not available, reliable algorithms to estimation them are necessary. In this paper, a sliding mode observer is designed to estimate the lateral velocity. The side slip angle is estimated using the recursive least square with the disturbance observer and the pseudo integral. The estimated parameters from the combined estimation method are updated recursively to minimize the discrepancy between the model and the physical plant, and any possible effects caused by disturbances. The performance of the proposed monitoring system is evaluated through simulations and experiments.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.239-244
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• 2009

This paper suggests a precision positioning control technique of a precision positioning stage with coupling effects. The precision positioning stage is supported by four flexible spring hinges and driven by two piezoelectric actuators. The dynamic characteristics of the precision positioning stage is modeled and identified by the FEM analysis. The dynamic characteristics of the stage are also identified by the frequency domain modeling technique based on the experimental data. Reliability of two modeling methods is examined by comparing the numerically and experimentally produced responses of the stage. This paper proposes a sliding mode control technique with integrator to improve the tracking ability of the precision positioning stage to the complex input signal using. To demonstrate the effectiveness of the proposed modeling schemes and control algorithm, experiment validations are performed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.327-331
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• 1997

This paper presents the non-linear modeling and design of a robust sliding mode controller for film transfer systems. The tension of a film is sensitive to the speed difference between a winder and an unwinder. The change of the roll-radius as well as the moment of inertia result in the film transfer system begin variable and non-linear. In designing the robust controller. Two major aims are considered. The first aim is hat the web transferring speed tracks at any given reference speed; the second one is that the tension of the film tracks at any given reference tension. To verify the control algorithm, a Simulink model was built and compared with a conventional PID controller. In a computer simulation study, the suggested robust sliding mode controller shows better performance than the PID controller a various control inputs.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.5
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• pp.518-525
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• 2004

The thermoelectric device was applied to a car seat to control the hot temperature in the summer and cold temperature in the winter. The characteristics of the device used to a car seat were analyzed. The air conditioning structure was designed to regulate the hot side of the thermoelectric device. To control the temperature of the car seat, a robust control algorithm based on the sliding mode control was applied, and a controller using one-chip microprocessor was developed. The performance of the proposed controller through experiments was shown.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.579-584
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• 2000

In this study. the time varying boundary control using the right boundary transverse motion on the basis of the energy flux between the moving string and the boundaries is suggested to stabilize the transverse vibration of an axially moving string. The effectiveness of the active boundary control is showed through experimental results. Sliding mode control is adopted in order to achieve velocity tracking control of the time varying right boundary to dissipate vibration energy of the string effectively. For the unmoving and moving string at various velocity under various tension the performance of the transverse vibration control using the time varying right boundary control with the suggested control scheme is experimentally demonstrated.

• Journal of Advanced Marine Engineering and Technology
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• v.14 no.3
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• pp.42-51
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• 1990

A construction method of a switching hyperplane for the Variable Structure Systems, which have robustness for parameter variations and noises in sliding mode is presented. The problem of composing a switching hyperplane is considered as a special case of the pole assignment for a closed-loop system. It is shown that the condition for constructing arbitrarily a switching hyperplane matrix C is equivalent to the controllability of the pair matrix(A, B) for the system, and then an algorithm of obtaining the switching hyperplane is proposed. It is also proved that zeros of the system are invariable in the sliding mode, and the stability for the system dynamic is equivalent to the stability of PA $\textit{ker}$ C. The applicability of the method proposed in the paper is shown by the simulation results for an example system.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.12
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• pp.1023-1030
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• 2002

Since the dynamics of autonomous underwater vehicles (AUVs) are highly nonlinear and their hydrodynamic coefficients vary with different vehicle's operating conditions, high performance control systems of AUVs are needed to have the capacities of teaming and adapting to the variations of the vehicle's dynamics. In this paper, a linearly parameterized neural network (LPNN) is used to approximate the uncertainties of the vehicle dynamics, where the basis function vector of the network is constructed according to the vehicle's physical properties. The network's reconstruction errors and the disturbances in the vehicle dynamics are assumed be bounded although the bound may be unknown. To attenuate this unknown bounded uncertainty, a certain estimation scheme for this unknown bound is introduced combined with a sliding mode scheme. The proposed controller is proven to guarantee that all signals in the closed-loop system are uniformly ultimately bounded (UUB). Numerical simulation studies are performed to illustrate the effectiveness of the proposed control scheme.