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Parameter estimator integrated-sliding mode control of dual arm robots

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Abstract

This paper presents the parameter estimator-integrated sliding mode control of dual arm robots. To do so, a robust adaptive controller is designed for 3D cooperative motion of dual-arm robots based on the frame of second-order sliding mode control (SOSMC). Additionally, the method of the model-reference adaptive control (MRAC) is also utilized for constituting an adaptation mechanism then integrating it into the control loop to estimate the unknown robot parameters. By doing so, the proposed controller is robust with disturbances and parametric uncertainties. Furthermore, the adaptive behavior is also achieved in which the control system does not need the information of many system parameters. Finally, the applicability and feasibility of the proposed controller is presented through a 4 four degree-of-freedoms (DOFs) dual-arm manipulator.

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Author information

Authors and Affiliations

  1. Department of Automotive Engineering, Vietnam Maritime University, Hai Phong, Vietnam

    Le Anh Tuan

  2. Department of Control and Robotics Engineering, Kunsan National University, Kunsan, Chonbuk, 573-701, Korea

    Young Hoon Joo

  3. Vietnam Maritime University, Hai Phong, Vietnam

    Pham Xuan Duong & Le Quoc Tien

Authors
  1. Le Anh Tuan
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  2. Young Hoon Joo
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  3. Pham Xuan Duong
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  4. Le Quoc Tien
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Corresponding author

Correspondence to Young Hoon Joo.

Additional information

Recommended by Associate Editor Sung Jin Yoo under the direction of Editor Duk-Sun Shim. This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (NRF-2015R1A2A2A05001610) and the Human Resources Development program (No. 20144030200590) of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant funded by the Korea Government Ministry of Knowledge Economy.

Le Anh Tuan graduated both B. Eng. and M. Eng. in Mechanical Engineering andMarine Machinery from Vietnam Maritime University in 2003 and 2007, respectively. He received the Ph.D. degree in Mechanical Engineering from Kyung Hee University, Korea in 2012. He is currently an Associate Professor at Automotive Engineering Department of Vietnam Maritime University, Hai Phong, Vietnam. His interested research composes of Applied Nonlinear Control, Dynamics and Control of Industrial Machines.

Young Hoon Joo received the B.S., M.S., and Ph.D. degrees in Electrical Engineering from Yonsei University, Seoul, Korea, in 1982, 1984, and 1995, respectively. He worked with Samsung Electronics Company, Seoul, Korea, from 1986 to 1995, as a project manager. He was with the University of Houston, Houston, TX, from 1998 to 1999, as a visiting professor in the Department of Electrical and Computer Engineering. He is currently a professor in the Department of Control and Robotics Engineering, Kunsan National University, Korea. His major interest is mainly in the field of intelligent control, intelligent robot, human-robot interaction, wind-farm control, power system stabilization, and intelligent surveillance systems. He served as President for Korea Institute of Intelligent Systems (KIIS) (2008–2009) and is serving as the Editor-in-Chief for the International Journal of Control, Automation, and Systems (IJCAS) (2014-present) and the Vice-President for the Korean Institute of Electrical Engineers (KIEE) (2013-present) and for Institute of Control, Automation, and Systems (ICROS) (2016-present). Also, he is serving as Director of Research Center of Wind Energy Systems funded by Korean Government (2016-present).

Pham Xuan Duong graduated both Engineer degree in Marine Engineering and then Master of Science in Marine Engineering from Vietnam Maritime University in 1994 and 1998, respectively. He received his PhD in “Synthesis of feedback law for non-linear models of propulsive system” from the Russian Academy of Science in 2006. He is currently a Vice President of Vietnam Maritime University since September 2009 until now and in-charge of the university’s academic affairs, scientific research, international relations and maritime education and training. He was an author and co-author of number of papers, which were published in the proceedings of IMLA, ISME, ISMT, AMFUF, IAMU, TranNav, etc. With his remarkable contribution to the mentioned above organizations, he was honorary elected as a Deputy Chair of LEC IAMU’s AGA 17, an Advisory Board Member of ISME 2015, 2017, an International Executive Board’s member of ISMT 2009, 2011, 2013. His interested research composes of Automation & Control, Reduction of ship emissions, educational management and administration.

Le Quoc Tien graduated as an Engineer in Marine Navigation and M. Eng. in Maritime Safety in 1994, 2005 from Vietnam Maritime University, respectively. He received a Ph.D. degree in Marine Control Engineering from the Russian Academy of Science. Since 1994, he has been with Vietnam Maritime University, where he is currently a Vice President. His research interests include Maritime Science, Ship Propulsion, and Ship Navigation.

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Tuan, L.A., Joo, Y.H., Duong, P.X. et al. Parameter estimator integrated-sliding mode control of dual arm robots. Int. J. Control Autom. Syst. 15, 2754–2763 (2017). https://doi.org/10.1007/s12555-017-0018-1

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  • DOI: https://doi.org/10.1007/s12555-017-0018-1

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