Nankai University International E-Forum on Artificial Intelligence and Robotics


l 20226月21日(周二) 腾讯会议454-169-818



报告嘉宾:Prof. Zaharuddin Mohamed, Universiti Teknologi Malaysia, Malaysia


报告题目:Input Shaping Control of Flexible Dynamic Systems

报告摘要:Flexible dynamic systems ranging from nano-positioning devices to large industrial cranes are widely used for various applications. However, they suffer from unwanted transient deflection and residual vibration that significantly affect the positioning accuracy, effectiveness and safety during their operations. Vibration and oscillation control of these systems is challenging especially for multimode systems, time varying systems and in the presence of disturbance. This presentation highlights vibration/oscillation control of flexible dynamic systems using input shaping schemes. A flexible robot manipulator and, single and double-pendulum overhead cranes are considered for implementation of the controllers. Several control structures involving input shaping scheme are discussed including feed-forward technique, hybrid of feed-forward and feedback controllers, and closed-loop input shaping. In addition, development of an adaptive input shaper for a system with uncertainties is also presented. Theoretical and experimental investigations on a laboratory flexible manipulator and overhead cranes are presented to demonstrate performance of the controller in reducing system vibration and oscillation.



BEng (Electrical, Electronics and Systems), Department of Electrical and Electronics Engineering, Universiti Kebangsaan Malaysia, 1993.

MSc (Control Systems Engineering), Department of Automatic Control and Systems Engineering, The University of Sheffield, UK, 1995.

PhD (Control Systems Engineering), Department of Automatic Control and Systems Engineering, The University of Sheffield, UK, 2003.


Head of Advanced Control Research Group, School of Electrical Engineering, 2017 - now.

Head, Department of Control and Mechatronics Engineering, Nov 2012 - Oct 2016.




报告嘉宾:Prof. Le Anh Tuan, Vietnam Maritime University


报告题目:Modelling and control of telescopic truck cranes

报告摘要:Strict underactuation, complex structure, shape variation, and elasticity of machine elements cause many challenges in control of telescopic truck cranes. We develop a dynamic model of telescopic boom cranes considering flexibility and damping of load-carrying rope, viscoelasticity of boom-luff cylinder and extension cylinder. Modeling and control are constituted for the complex operation in which three motors including payload hoist, boom elevation, and boom expansion are simultaneously activated. We provide two observer-based robust controllers entitled second-order and fast-terminal sliding mode controls. These controllers work well even when the crane faces parametric variation and disturbance. The control system halves its sensors because of the performance of observer. We construct an intelligent robust control system for such cranes, which integrates the benefits of advanced techniques. Fractional-order control combined with robust control produces a controller holding flexible derivative orders. A multilayer perceptron network provides a learning feature to the cranes, in which an adaptive mechanism estimates one equivalent component represented for individual influences. We analyze and verify the effectiveness of modeling and controllers by applying to a Grove-TMS500 truck crane. Simulation results show the asymptotical convergence of actuated outputs and the stabilization of unactuated ones. The crane responses hold the robustness against winds and parametric uncertainties. The oscillations of crane outputs are due to elastic components such as handling ropes, two hydraulic cylinders for luffing and expanding the boom. The controllers well eliminate these undesirable oscillations.


Prof. Le Anh Tuan received the B.Eng. and M.Eng. degrees in mechanical engineering and marine machinery from Vietnam Maritime University, Haiphong, Vietnam, in 2003 and 2007, respectively, and the Ph.D. degree in mechanical engineering from Kyung Hee University, South Korea, in 2012. He was a Research Fellow with Nanyang Technological University, Singapore, a Visiting Scholar with the University of Birmingham, U.K., and an Endeavor Research Fellow with the University of Technology Sydney, Australia. Since 2016, he has been a Contract Research Professor with the Center of Wind Energy System, Kunsan National University, South Korea. he is currently a Professor with the Department of Automotive Engineering, Vietnam Maritime University. His interests include nonlinear control, robust adaptive control, fractional-order control, engineering dynamics and vibration, modelling and control of industrial machines.