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Adaptive Tracking Control of Two-Wheeled Welding Mobile Robot with Smooth Curved Welding Path
Trong Hieu Bui,Tan Lam Chung,Sang Bong Kim,Tan Tien Nguyen 대한기계학회 2003 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.17 No.11
This paper proposes an adaptive controller for partially known system and applies to a twowheeled Welding Mobile Robot (WMR) to track a reference welding path at a constant velocity of the welding point. To design the tracking controller, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as desired. Additionally, a scheme of error measurement is implemented on the WMR to meet the need of the controller. In this paper, the system moments of inertia are considered to be partially unknown parameters which are estimated using update laws in adaptive control scheme. The simulations and experiments on a welding mobile robot show the effectiveness of the proposed controller.
A Connection Entropy-based Multi-Rate Routing Protocol for Mobile Ad Hoc Networks
Hieu, Cao Trong,Hong, Choong-Seon Korean Institute of Information Scientists and Eng 2010 Journal of Computing Science and Engineering Vol.4 No.3
This paper introduces a new approach to modeling relative distance among nodes under a variety of communication rates, due to node's mobility in Mobile Ad-hoc Networks (MANETs). When mobile nodes move to another location, the relative distance of communicating nodes will directly affect the data rate of transmission. The larger the distance between two communicating nodes is, the lower the rate that they can use for transferring data will be. The connection certainty of a link also changes because a node may move closer to or farther away out of the communication range of other nodes. Therefore, the stability of a route is related to connection entropy. Taking into account these issues, this paper proposes a new routing metric for MANETs. The new metric considers both link weight and route stability based on connection entropy. The problem of determining the best route is subsequently formulated as the minimization of an object function formed as a linear combination of the link weight and the connection uncertainty of that link. The simulation results show that the proposed routing metric improves end-to-end throughput and reduces the percentage of link breakages and route reparations.
Trong Hieu Bui,Jin Ho Suh,Sang Bong Kim,Tan Tien Nguyen 대한기계학회 2002 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.16 No.12
This paper presents hybrid control of an active suspension system with a full-car model by using H_∞ and nonlinear adaptive control methods. The full-car model has seven degrees of freedom including heaving, pitching and rolling motions. In the active suspension system, the controller shows good performance: small gains from the road disturbances to the heaving, pitching and rolling accelerations of the car body. Also the controlled system must be robust to system parameter variations. As the control method, H∞ controller is designed so as to guarantee the robustness of a closed-loop system in the presence of uncertainties and disturbances. The system parameter variations are taken into account by multiplicative uncertainty model and the system robustness is guaranteed by small gain theorem. The active system with H∞ controller can reduce the accelerations of the car body in the heaving, pitching and rolling directions. The nonlinearity of a hydraulic actuator is handled by nonlinear adaptive control based on the back -stepping method. The effectiveness of the controllers is verified through simulation results in both frequency and time domains.
3D Vision for Mobile robot Manipulator on Detecting and Tracking Target
Trong Hieu Luu,Thanh Hung Tran 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this study, an investigation of mobile robot manipulation applied stereo vision system, tracking and gripping the object with different disciplines to produce a robotics system with abilities to perform a complex real task is conducted. Stereo cameras for pose-based visual servoing and construction 3D map of the object to the manipulator is generated. Algorithms for mobile robot controlling, stereo visions, transformation functions and inverse kinematics are provided to make the study more comprehensive. The study has successfully integrated computer vision technique to mobile robot manipulator, define the target base on two cameras and solving the inverse kinematic functions for 4 DOF elbow manipulator. Camera system has succeeded tracking measuring the distance; the object is inside the workspace of the manipulator, computer computes the inverse kinematic equations to find out the best angle for the arm reaching the target. Experiment results are presented to demonstrate the ability of the proposed control method.