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A Formal Synthesis of (+)-Epiquinamide
( Le Anh Tuan ),( Guncheol Kim ) 충남대학교 기초과학연구원 2017 충남과학연구지 Vol.34 No.1
For the synthesis of quinolizidine alkaloid, epiquinamide (4), the common synthetic precursor 1-hydroxyquinolizidinone has been an attractive target for many research groups recently. To prepare this intermediate, we have developed a new route using an epoxide.
Sliding mode controls of double-pendulum crane systems
Le Anh Tuan,이순걸 대한기계학회 2013 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.27 No.6
This study focuses on the design of robust nonlinear controllers based on both conventional and hierarchical sliding mode techniques for double-pendulum overhead crane systems. In the first approach, a first-order sliding surface is provided and a proper control scheme is generated to stabilize the surface. In the second approach, two levels of sliding surfaces are proposed and the control scheme is designed based on the stability of the second-level surface. We also prove the stability of the first-level sliding surface. To verify the quality of the proposed controllers, simulation for a particular type of overhead crane systems is implemented. Simulation results show that all state trajectories asymptotically converged to desired values.
Adaptive sliding mode control of overhead cranes with varying cable length
Le Anh Tuan,문상찬,이원구,이순걸 대한기계학회 2013 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.27 No.3
An overhead crane transports cargoes of various weights and volumes depending on the operation case. Friction factors characterized by damped coefficients are changeable in terms of the operating environment. In this study, an adaptive version of the sliding mode control of a crane system is developed in the case of no priori knowledge of the payload mass and damped elements. Using two inputs, namely, trolley driving force and cargo lifting force, the proposed adaptive robust controller simultaneously executes four duties, including tracking the trolley, hoisting the cargo, keeping the cargo swing small during transient state, and completely eliminating the payload angle at steady destination. Numerical simulations and experiments are conducted to investigate the quality of the proposed controller. The results show that the proposed controller works well and all system responses are asymptotically stabilized.
Adaptive Neural Network Second-order Sliding Mode Control of Dual Arm Robots
Le Anh Tuan,주영훈,Le Quoc Tien,Pham Xuan Duong 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6
An adaptive robust control system is considered for dual-arm manipulators (DAM) using the combinationof second-order sliding mode control (SOSMC) and neural networks. The SOSMC deals with the system robustnesswhen faced with external disturbances and parametric uncertainties. Meanwhile, the radial basis function network(RBFN) is to constitute an adaptation mechanism for approximating the unknown dynamic model of DAM. Thestability of model estimator-integrated controller is analyzed using Lyapuov theory. To show the effectiveness ofproposed controller, a four DOFs-DAM is applied as an illustrating example. The results reveal that the controllerworks well, excellently adapt to no information of robot modeling.