• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• Journal of Advanced Marine Engineering and Technology
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• v.18 no.4
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• pp.25-32
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• 1994

This paper presents a robust impedance controller design to coordinate a robot manipulator under system uncertainties while regulating external forces. By an impedance approach, the relationship between the motion and external forces is defined. Due to the system uncertainties, two kind of sliding mode control schemes based on the impedance approach are derived to ensure that the manipulator end-effector follows a desired trajectory and the force applied to end effector is regulated according to a target impendance. A stability condition is shown according to a sliding condition. To evaluate the devised control scheme, a numerical example is shown.

• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.256-264
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• 2018

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.3
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• pp.643-650
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• 2017

The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for the flexible joint robot by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition for disturbances. The dynamic model of flexible joint robot is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.1-10
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• 2017

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.

• Journal of Power Electronics
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• v.15 no.3
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• pp.741-752
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• 2015

This study proposes a new solution for the parallel operation of microgrid inverters in terms of circuit topology and control structure. A combined three-phase four-wire inverter composed of three single-phase full-bridge circuits is adopted. Moreover, the control structure is based on adaptive three-order sliding-mode control and wireless load-sharing control. The significant contributions are as follows. 1) Adaptive sliding-mode control performance in inner voltage loop can effectively reject both voltage and load disturbances. 2) Virtual resistive-output-impedance loop is applied in intermediate loop to achieve excellent power-sharing accuracy, and load power can be shared proportionally to the power rating of the inverter when loads are unbalanced or nonlinear. 3) Transient droop terms are added to the conventional power outer loop to improve dynamic response and disturbance rejection performance. Finally, theoretical analysis and test results are presented to validate the effectiveness of the proposed control scheme.

• Journal of Power Electronics
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• v.19 no.4
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• pp.881-893
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• 2019

This paper proposes a practical sliding-mode controller design for shaping the impedances of cascaded boost-converter power decoupling circuits for reducing the second order harmonic ripple in photovoltaic (PV) current. The cascaded double-boost converter, when used as power decoupling circuit, has some advantages in terms of a high step-up voltage-ratio, a small number of switches and a better efficiency when compared to conventional topologies. From these features, it can be seen that this topology is suitable for residential (PV) rooftop systems. However, a robust controller design capable of rejecting double frequency inverter ripple from passing to the (PV) source is a challenge. The design constraints are related to the principle of the impedance-shaping technique to maximize the output impedance of the input-side boost converter, to block the double frequency PV current ripple component, and to prevent it from passing to the source without degrading the system dynamic responses. The design has a small recovery time in the presence of transients with a low overshoot or undershoot. Moreover, the proposed controller ensures that the ripple component swings freely within a voltage-gap between the (PV) and the DC-link voltages by the small capacitance of the auxiliary DC-link for electrolytic-capacitor elimination. The second boost controls the main DC-link voltage tightly within a satisfactory ripple range. The inverter controller performs maximum power point tracking (MPPT) for the input voltage source using ripple correlation control (RCC). The robustness of the proposed control was verified by varying system parameters under different load conditions. Finally, the proposed controller was verified by simulation and experimental results.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.1
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• pp.173-179
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• 2017

This paper proposes a robust impedance controller for high-DOF robots. The model-based control of a higher DOF robot uses a numerical dynamic model because the analytical dynamic model is difficult to be derived and this means that modeling error is inevitable. The impedance control in the task space is affected by joint motions and has more difficulties in the higher DOF robots. In addition, the disturbances must be decoupled in the control of high DOF robot. This paper proposes a robust impedance controller based on integral sliding mode control (ISMC) and disturbance observer(DOB) for high-DOF robot manipulator. The ISMC is used to improve the robustness of the impedance control and to preserve its nominal performance. DOB is also employed to cancel the effects of input disturbances and to reduce the maximum gain of the ISMC which eventually determines the input chattering size.

• Journal of Power Electronics
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• v.16 no.3
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• pp.1046-1055
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• 2016

A controller to mitigate the destabilizing effect of constant power load (CPL) is proposed for a DC/DC buck-boost converter. The load profile has been considered to be predominantly of CPL type. The negative incremental resistance of the CPL tends to destabilize the feeder system, which may be an input filter or another DC/DC converter. The proposed sliding mode controller aims to ensure system stability under the dominance of CPL. The effectiveness of the controller has been validated through real-time simulation studies and experiments under various operating conditions. The controller has been demonstrated to be robust with respect to variations in supply voltage and load and capable of mitigating instabilities induced by CPL. Furthermore, the controller has been validated using all possible load profiles, which may arise in modern-day DC-distributed power systems.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.2
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• pp.416-422
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• 2017

The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper.