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All Journal International Journal of Electrical and Computer Engineering International Journal of Power Electronics and Drive Systems (IJPEDS) TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics
Tung Lam Nguyen
Hanoi University of Science and Technology
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

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Journal : Bulletin of Electrical Engineering and Informatics

 1 
Hardware-in-the-loop based comparative analysis of speed controllers for a two-mass system using an induction motor drive with ideal stator current performance Vo Thanh Ha; Tung Lam Nguyen; Vo Thu Ha
Bulletin of Electrical Engineering and Informatics Vol 10, No 2: April 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v10i2.2370

Abstract

A comparative study of speed control performance of an induction motor drive system connecting to a load via a non-rigid shaft. The nonrigidity of the coupling is represented by stiffness and damping coefficients deteriorating speed regulating operations of the system and can be regarded as a two-mass system. In the paper, the ability of flatness based and backstepping controls in control the two-mass system is verified through comprehensive hardware-in-the-loop experiments and with the assumption of ideal stator current loop performance. Step-by-step control design procedures are given, in addition, system responses with classical PID control are also provided for parallel comparisons. 
Super-twisting sliding mode based nonlinear control for planar dual arm robots Tung Lam Nguyen; Huu Tinh Vu
Bulletin of Electrical Engineering and Informatics Vol 9, No 5: October 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (952.415 KB) | DOI: 10.11591/eei.v9i5.2143

Abstract

In this paper, a super-twisting algorithm sliding mode controller is proposed for a planar dual arm robot. The control strategy for the manipulator system can effectively counteract chattering phenomenon happened with conventional sliding mode approach. The modeling is implemented in order to provide the capability of maneuvering object in translational and rotational motions. The control is developed for a 2n-link robot and subsequently simulations is carried out for a 4-link system. Comparative numerical study shows that the designed controller performance with good tracking ability and smaller chattering compared with basic sliding mode controller. 
Fast terminal sliding mode control for dual arm manipulators Minh Đức Dương; Trần Đức Chuyển; Tùng Lâm Nguyễn
Bulletin of Electrical Engineering and Informatics Vol 12, No 3: June 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v12i3.4981

Abstract

In this paper, present the recent advances in bimanual industrial manipulators have led to an increased interest in the specific problems pertaining to dual arm manipulation. This paper presents a control algorithm for dual arm robot that can move the object in a working plane both in translation and rotation ways. Different from other research that extend the control algorithms for a single robot to a dual arm robot because of fixed grasp assumption, this research has considered the frictional contact constraints to guarantee object grasping during moving of the object. Fast terminal sliding mode control (FTSMC) technique is used to design the controller and comparison to traditional and super-twisting sliding mode controls have been done. Simulations show the effectiveness and outperformance of the proposed control algorithm in comparison to considered sliding mode control techniques.
Co-Authors Anh Duc Nguyen Bui Thi Hai Linh Danh Huy Nguyen Hoang Dinh Co Huu Tinh Vu Huy Phuong Nguyen Manh Linh Nguyen Minh Đức Dương Pham Thi Thu Ha Roan Van Hoa Tran Duc Chuyen Tran Thi Huong Trần Đức Chuyển Vo Thanh Ha Vo Thu Ha