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Back-stepping Approach for Rolling Motion Control of an Under-actuated Two-wheel Spherical Robot
Hoang Quoc Dong,Soon-Geul Lee,Soo Ho Woo,Tuan-Anh Le 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
Spherical robots are the mobile robots with the locomoting by displacing its centre of gravity to generate torque and rotate itself. Therefore, the angle of the main body inside the robot determines the position and posture of the robot. There is only one contact point between the robot and the ground, and the inappropriate control strategy can generate the sizeable angular amplitude of the main body. As a result, the stable movement of the robot cannot be satisfied along with the appeared vibrations. This problem significantly impacts the tracking control quality and creates the clumsy gestures of the robot. In this research, an under-actuated dynamic model-based back-stepping control focusing on the rolling motion is developed and applied for a designed two-wheel spherical robot. With the provided closed-loop control law, both the precision and stability of the robot’s movement are guaranteed. The entire work’s efficiency is investigated by the experimental results.
Hoang Quoc Dong,Soon-Geul Lee,Pham Dinh Ba 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
A gantry crane plays an essential part in industrial transportation and construction. Safety and productivity of a crane become considerably worse with fluctuation of cargo caused by dynamic characteristics and working environment. Therefore, reducing vibration and accurate trajectory tracking of the cargo are the major missions of a controller. In this study, a double-loop controller that is combined with inner proportional-integral (PI) loop and outer partial feedback linearization (PFL) is proposed for a three dimensional gantry crane where the dynamical model is obtained with Lagrangian formula. Numerical simulations are carried out to investigate appropriateness of the proposed controller and to validate the performance of it.
Kinematic Model-based Integral Sliding Mode Control for a Spherical Robot
Hoang Quoc Dong,Soon-Geul Lee,Chaehyeuk Lee,Ihn-Sik Weon,Yeon-Jun Kim,Soo Ho Woo,Pham Dinh Ba,Jaehwan Choi 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
Spherical rolling robots are an interesting topic for both control theory and robotic applications. This type of mobile robot shows plenty of outstanding advantageous properties which have been increasingly attracting researchers. Several platform versions of the spherical robot have been developing for these decades. In this paper, a design of a two-wheeled spherical robot attached a counter mass inside is presented along with its kinematic model. To maintain stable posture while the robot is moving, it is necessary to handle the uncertainties and disturbances that arise from changes of surface and friction conditions. A robust integral sliding mode controller, which focuses on the rolling motion control of the robot, is developed based on the established kinematic model. The designed closed-loop controller guarantees the accurate motion of the robot with maintenance of small angles of the main body and the outer shell. Experiment results are provided to investigate the efficiency of the entire operation.
Quoc-Dong Hoang,Jong-Gyu Park,Soon-Geul Lee,Jae-Kwan Ryu,Vinicio Alejandro Rosas-Cervantes 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.12
Crawler excavators are important, utilitarian machines in construction industries. Special features of the chain and chassis allow them to operate and move on unstable ground. The shock motions of the links, which coincide with the changes of the forces impacting the foundation, create vibrations within the entire system. The highest level of vibrations appears when the boom moves, as it holds the robotic excavator’s entire actuator with large mass and moment of inertia. These undesired fluctuations cause system instability, driver discomfort, reduced operating efficiency, and increased energy consumption. In this study, a hierarchical sliding mode control focusing on boom movement is designed based on the system dynamic model. This controller allows the boom to move precisely with a slight fluctuation angle of the main body, even while the other links are moving using a parameter estimator. Maintaining stable boom movements significantly simplifies arm and bucket control. The effectiveness of the entire work is investigated by numerical simulation and implementation results on a small-scale hydraulic excavator.
김봉한,Hoang Quoc Dong,류재관,이원희,구평모,이순걸 사단법인 미래융합기술연구학회 2021 아시아태평양융합연구교류논문지 Vol.7 No.10
This paper presents modeling and control of the interlocking system connecting unmanned surface and underwater vehicles with an underwater cable. The research's primary objective is to determine the feasibility of the proposed system and designed controller, create a foundation for future studies with applications in maritime science. To complete it, the first step is to model the system's characteristics for the real system by using theories of hydrodynamics, Newton, and Lagrangian; subsequently, the algorithms of nonlinear controls, Lyapunov, and Barbalat criteria are applied for stable analyzing and designing the controller. Afterward, the simulations are carried out in the Matlab Simulink, which allows simulating the response of the system with control inputs similar to in the real-time environment and collecting the data directly to the workspace for processing and comparison using root-mean square error standard. The system is assumed to be used in marine environments. Therefore, the influences of the disturbance and uncertainties, such as tidal flows, surface waves, and winds, are the most dominant factors for control. Integral sliding mode control is proposed for the interlocking system to guarantee suitable stability and robustness of the system. Through the simulation results with the control of the motion system tracking to the given curve trajectory with impact disturbance, the effectiveness and feasibility of the proposed system and the control algorithm can be realized. Therefore, the practical application of this system for surveying and studying the marine environment shows promising potential.
Jong-Gyu Park,Quoc-Dong Hoang,Soon-Geul Lee 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
For vibration attenuation of excavators, this study proposed two controllers: Feedback linearization controller [FLC], and Sliding mode controller [SMC]. The three actuators, consisting of boom, arm and bucket force, simultaneously actuate fine output consisting of boom angle, arm angle and one payload bucket angle. With dynamic modeling using the Lagrange equation, the mathematical analysis of boom, cancer, bucket and terminal was performed, and experimented with a scale of 1/14 excavator to investigate the quality of the two controllers. The performance comparison of the two proposed controllers through system modeling demonstrated the FLC improved the nonlinear system to the linear system, and the performance of the SMC controller improved the vulnerability to non-linearization of the FLC. In addition, in order to overcome the uncertainty structural instability factor using the reduced model, the parameters of the control algorithm were studied in the neural network learning to overcome structural suggestion elements.
Pham Dinh Ba,Hoang Quoc Dong,Nguyen Lan Huong,Soon-Geul Lee 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
This paper proposes a hierarchical sliding mode controller for a three-dimensional ballbot in an extremely complicated operation of three omni-directional wheels, a ball, and body. Three ball motors simultaneously drive four outputs comprising ball motion and two tilt angles of the body. Simulation tests are performed to investigate the controller qualities. The proposed controller asymptotically stabilizes and consistently maintains system response.
Kinematic Modeling of Spherical Rolling Robots with a Three-Omnidirectional-Wheel Drive Mechanism
Pham Dinh Ba,Quoc Dong Hoang,Soon-Geul Lee,Thanh Hai Nguyen,Xuan Quang Duong,Boi Chau Tham 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
The spherical rolling robot (SRR) is an underactuated system with nonholonomic constraints. The proposed drive mechanism for the mobile robot is comprised of three omnidirectional wheels to make the omnidirectional movement of the robot on the floor. The kinematic model of the SRR is derived via nonholonomic constraints. Numerical simulation is analyzed. Results indicate that the robot can track the desired trajectory and maintain its balance stably at the same time.
Hai Le Xuan,Quoc-Dong Hoang,Soon Geul Lee,Dat Pham Xuan,Hoang Tran Viet,Minh Pham Van,Hung Pham Van,Hung Pham Viet,PHAM DUC TUAN,Duc Anh Nguyen 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.2
Ballbots, which have been studied for over ten years, are under-actuated mobile robots that operate using the inverted pendulum paradigm. Controlling a ballbot poses a number of challenges, including maintaining the stable upright posture from the ground in all directions and making sure it follows the desired trajectory. External factors such as a minor change in contact surface properties or fabrication errors can affect the system's stabilization and transfer capabilities. In this study, an adaptive hierarchical sliding mode control algorithm based on an artificial neural network is developed to make the ballbot robust to external factors. The use of the proposed controller ensures system stability despite uncertainties including friction, accidental centrifugal forces and gravity that occur when the ballbot follows the reference trajectory. The system stability is guaranteed on the basis of Lyapunov theory. Control efficiency and robot stability under system uncertainties are demonstrated by numerical simulation.