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Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control
Jin, Maolin,Kang, Sang Hoon,Chang, Pyung Hun,Lee, Jinoh Institute of Electrical and Electronics Engineers 2017 IEEE/ASME Transactions on Mechatronics Vol. No.
<P>Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple and yet effective alternative to robot model-based controls and/or intelligent controls. An inclusive and enhanced formulation of TDC for robust control of robot manipulators is presented in this paper. The proposed formulation consists of three intuitive terms: 1) time delay estimation (TDE), inherited from the original TDC, for cancellation of mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., a 'mass'-'nonlinear damper'-'nonlinear spring' system) injection term; and 3) a TDE error correction term based on a nonlinear sliding surface. The proposed TDC formulation has an inclusive structure. Depending on the gain/parameter set chosen, the proposed formulation can become Hsia's formulation, Jin's formulations including a type of terminal sliding mode control (SMC), an SMC with a switching signum function, or a novel enhanced formulation. Experimental comparisons were made using a programmable universal manipulator for assembly-type robot manipulator with various parameter sets for the proposed control. Among them, the highest position tracking accuracy was obtained by using a terminal sliding DED with a terminal sliding correction term.</P>
Self-Tuning Control for Articulated Robots Using the Plestan’s Method
Maolin Jin,Jinoh Lee,Kap-Ho Seo,Jin-Ho Suh 한국정밀공학회 2021 International Journal of Precision Engineering and Vol.22 No.4
A self-tuning controller is proposed for an articulated robot using the Plestan’s method. To this end, we reconstruct the articulated robot dynamics exploiting the time-delay estimation (TDE) technique. The closed-loop error dynamics is described with sliding variables and TDE error; then, the Plestan’s sliding mode based gain-adaptation law is incorporated with the TDE technique. The stability of the overall dynamics is proven in the sense of Lyapunov. As a result, self-tuning of the gain is realized through the sliding variable. When the TDE error increases due to the nonlinear effect such as friction, the adaptive gain is automatically adjusted to counteract the TDE error. Chattering can be avoided because the sliding mode based gain dynamics does not allow the gain increase to an excessively high value. The superiority of the proposed self-tuning controller is demonstrated by comparative experiments on a multiple joints robot setup.
Time Delay Control of a Pump-controlled Electro-hydraulic Actuator
Maolin Jin,Jinwook Kim,Dang Xuan Ba,Hyung Gyu Park,Kyoung Kwan Ahn,Jong Il Yoon 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper presents an accurate position control for a pump-controlled electro-hydraulic actuator (EHA) using time-delay estimation (TDE). The TDE technique is used to estimate nonlinear terms of EHA, which is a third order nonlinear system. The measured signal of linear encoder, and pressure of the EHA are used to implement the TDE technique. The effectiveness of the proposed controller is verified through experiment using an EHA test bench. The proposed controller shows better tracking performance compared with a PID controller.
Maolin Jin,Jinoh Lee,Kyung Kwan Ahn IEEE 2015 IEEE/ASME transactions on mechatronics Vol.20 No.2
<P>We have developed a continuous nonsingular terminal sliding-mode control with time-delay estimation (TDE) for shape memory alloys (SMA) actuators. The proposed method does not need to describe a mathematical model of a hysteresis effect and other nonlinearities; thus, it is simple and model free. The proposed control consists of three elements that have clear meaning: a TDE element that cancels nonlinearities in the SMA dynamics, an injection element that specifies desired terminal sliding-mode (TSM) dynamics, and a reaching element using a fast terminal sliding manifold that is activated accordingly when the system trajectory is not confined in the TSM. The proposed control has been successfully implemented in an SMA actuated system and experimental results show the proposed control is easily implementable and highly accurate. Once the TSM and the reaching condition are suitably specified, the tracking performance of the proposed control is improved compared with a conventional time delay control with a linear error dynamics.</P>
Maolin Jin,Jinoh Lee,Pyung Hun Chang,Chintae Choi IEEE 2009 IEEE transactions on industrial electronics Vol.56 No.9
<P>This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control design for robot manipulators using time-delay estimation (TDE). The proposed control assures fast convergence due to the nonlinear TSM, and requires no prior knowledge about the robot dynamics due to the TDE. Despite its model-free nature, the proposed control provides high-accuracy control and robustness against parameters variations. The simplicity, robustness, and fast convergence of the proposed control are verified through both 2-DOF planar robot simulations and 3-DOF PUMA-type robot experiments.</P>
김무림(Jin, Maolin) 대한전기학회 2023 전기의 세계 Vol.72 No.6
본 고에서는 최근(2010년 이후) 국내외 재난 안전 로봇 기술 동향을 제시한다. 2011년 후쿠시마 원전사고 이후에 미국, 일본, 유럽 등에서 수행했던 재난 안전 로봇 분야의 R&D 프로젝트와 결과물을 소개하고, 우리나라의 원격방수로봇(2011), 도심형 화재진압로봇(2013), DRC 휴보(2015), 장갑형로봇시스템(2021), 붕괴지역탐지구조를 위한 뱀형 로봇(2021) 등 다양한 재난 안전 로봇을 소개한다. In this paper, we present the recent trends in disaster relief robot technology since 2010. We introduce research and development projects as well as advancements in the field of disaster relief robots in the United States, Japan, and Europe following the Fukushima nuclear power plant accident in 2011. Additionally, we highlight Korea’s remote fire-fighting robot (2011), urban fire-suppression robot (2013), DRC Hubo (2015), an armored robot system (2021), and a snake rescue robot(2021).
Yi Jin,Pyung Hun Chang,Maolin Jin,Dae Gab Gweon IEEE 2013 IEEE transactions on industrial electronics Vol.60 No.8
<P>Time-delay control has been verified as a simple and robust controller for robot manipulators. However, time-delay estimation (TDE) error inherently exists and critically affects both the closed-loop stability and control performance. In this paper, we propose a remedy for the TDE error that involves a combination of a nonlinear damping component and a novel fast-convergent error dynamics. Nonlinear damping incorporated with a backstepping design is adopted to counteract TDE error and ensure closed-loop stability. The fast-convergent error dynamics, constructed by means of terminal sliding mode (TSM), is introduced to enhance the control performance degraded by the TDE error. Through a rigorous stability analysis, it is proved that the tracking error of the closed-loop system due to the proposed control scheme is globally uniformly ultimately bounded. Through simulations and experiments, it is verified that the nonlinear damping counteracts the TDE error, while the TSM speeds up the convergence of the error dynamics. Finally, these two elements together substantially enhance the control accuracy.</P>