• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.495-495
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• 2000

The Stewart platform manipulator is a closed-kinematis chain robot manipulator that is capable of providing high st겨ctural rigidity and positional accuracy. However, this is a complex structure, so controllability of the system is not so good. In this paper, it introduces a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the slate and the perturbation w.hich is integrated into a variable structure controller(VSC) structure. The combination of controller/observer gives rise to the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). The optimal gains of SMCSPO are easily obtained by genetic algorithm. Simulation and experiment are presented in order to apply to the stewart platform manipulator. There results show highly' accuracy and performance.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권10호
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• pp.671-677
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• 2004

This paper presents the design of a now controller for the read/write head of a hard disk drive. The general controller for seeking is the time-optimal control. However if we use only the time optimal control law, this could be vulnerable to chattering effect. To solve this problem, we propose a modified controller design algorithm in this paper. The proposed controller consists of bang-bang control for seeking and sliding-mode control for tracking. Moreover, to test the robustness and stability of control system, a bounded disturbance is selected to maximize a severity index. Simulation results show the superiority of the proposed controller through comparison with time optimal VSC(variable structure control).

• 제어로봇시스템학회논문지
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• 제17권9호
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• pp.863-868
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• 2011

This paper presents a method to achieve a synchronous positioning objective for a dual-cylinder electro-hydraulic system with friction characteristics. The control system consists of a VSC (Variable Structure Controller) for each of the hydraulic cylinders and a PID (Proportional-Integral-Derivative) feedback controller. The PID controller is used for controlling the non-synchronous error generated by both cylinders when motion synchronization is carried out. To enhance the position-tracking performance of the individual cylinders friction characteristics is modeled in model, based on the estimated friction force. The simulation and experimental results show that the proposed method can effectively achieve the objective of position synchronization in the dualcylinder electro-hydraulic system, with maximum synchronization error with ${\pm}2\;mm$.

• 한국지능시스템학회논문지
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• 제11권9호
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• pp.788-792
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• 2001

일반적으로 슬라이딩모드 제어는 외란이나 시스템의 변수변환에 강인한 특성을 가지나, 그 변화의 최대 경계 값을 알아야한다. 그러나, 이 값은 쉽게 얻어질 수가 없다. 퍼지 논리는 잘 정의되어 있지 않거나 복잡한 시스템의 제어기 설계에 효과적인 방법을 제시하나, 과도응답을 미리 결정할 수가 없다. 본 논문에서는 두 이론의 장점을 결합하여 새로운 제어 알고리듬을 제시한다. 최적의 퍼지변수 값을 결정하기 위하여 적응이론을 도입한다. 마지막으로 제안한 제어 알고리듬의 타당성을 살펴보기 위하여 수치적인 예를 가변길이진자시스템에 적용한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 하계학술대회 논문집 A
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• pp.465-467
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• 1994

A VSC with Inertial COFB(Coordinate-Operator Feedback) is presented for chattering alleviation. Athought the conventional sliding mode controller has good properties of robustness for disturbances or parameter variations, fast response, and easy implementation, there exists an inevitable chattering problem which deteriorates the control performance of system. VSC using Inertial COFB has properties of bounded feedback gain, reduced chattering, and robustness for disturbances or parameter variations. The validity of the proposed method is demonstrated through computer simulation for a position control of BLDCM.

• 전력전자학회논문지
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• 제17권1호
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• pp.57-66
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• 2012

This paper proposes a performance improvement of grid-connected inverter system using sliding-mode based direct power control with a variable gain. The proposed control method determine variable gain of PI controller by using modeling at direct power control (DPC) applied to space vector modulation method. Also, this method use sliding-mode control to maintain excellent dynamic response of character of direct power control (DPC). The validity of the proposed algorithm are verified by simulations and experiments.

• 한국정밀공학회지
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• 제19권6호
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• pp.51-61
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• 2002

A tracking control scheme on the XY ball-screw drive system in the presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the Lund-Grenoble friction model to compensate effects of friction. The conventional VSC method that often has been used as a non-model-based friction controller has poor tracking performance in high-precision position tracking application since it cannot compensate the friction effect below a certain precision level completely. Thus to improve the precise position tracking performance, we propose the integral type VSC method combined with the friction-model-based observer. Then this control scheme has the high precise tracking performance compared with the non-model-baked VSC method and the PID control method with a similar observer. This fact is shown through the experiment on the XY ball-screw drive system with the nonlinear dynamic friction.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2173-2175
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• 2003

This paper presents a cruise control system design using variable structure control (AVCS) is an important part of the intelligent vehicle and highway systems (IVHS). A vehicle desired acceleration profile has been designed based on the vehicle speed and distance control algorithm. Cruise control system has been designed using VSC theory for which we propose a moving switching surface(MSS). It has been shown that the proposed control system can provide satisfactory performance. Simulation results are given to show the effectiveness of this controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 B
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• pp.873-876
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• 1993

A scheme of IEVSC(Integral Error Variable Structure Controller) is proposed for the DC servo systems with the disturbances which does not satisfy the matching condition. The structure of IEVSC is composed of state observer, VSC, and servo compensator which is designed for the output variable enhances the robustness against all type of disturbances. The performances of proposed IEVSC are verified through simulations for the DC servo motor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 A
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• pp.507-509
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• 1996

This paper is concerned with a position, control of induction motors using binary control. Due to the robustness and fast response, variable structure control is widely used for motor control field. However, the chattering phenomenon which is a drawback of VSC deteriorates the control performance and damages system components. In this paper, using binary control which has the characteristics of chattering alleviation and robust property solves this problem. The principle of binary control with inertial external loop and the design method of binary position controller are described. Also the control performance of proposed controller is confirmed by experiments.