High Precision Motion Control for Undertrain Servo Mechanisms with Enhanced Performance
Jing Na received the B.Sc. and Ph.D. degrees from the Beijing Institute of Technology, China, in 2004 and 2010, respectively. From 2011 to 2013, he was a Monaco/ITER Post-doctoral Fellow with ITER Organization, France. From 2015 to 2017, he was a Marie Curie Fellow with the University of Bristol, Bristol, U.K. Since 2010, he has been with the Kunming University of Science and Technology, China, where he became a Professor in 2013. His current research interests include intelligent control, adaptive parameter estimation, nonlinear control, and applications for robotics, servo systems and renewable energy systems. Dr. Na is an Associate Editor of the IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS and the Neurocomputing, and has served as the Organization Committee Chair of 2019 Data Driven Control and Learning Systems Conference and program committee Chair of 2017 International Conference on Identification, Modeling and Control.
Although adaptive control, disturbance observer (DOB) and many other control strategies have been proposed and used for servo mechanisms to achieve motion tracking, there are several certain issues, which needs to be further addressed, e.g., parameter convergence and transient response in adaptive control, computational costs of control implementation. In this talk, we will introduce several newly developed techniques for motion control designs of servo mechanisms. In particular, a new methodology for adaptive control design is introduced to achieve parameter estimation and motion tracking simultaneously, leading to better transient control response. An unknown dynamics estimator that has similar function and performance to DOB is also presented and incorporated into the motion control designs. Moreover, a systematic coordinate transform will be introduced to simplify the control designs of servo systems driven by hydraulic actuators. Both the theoretical analysis and experimental results based on test-rigs are all presented.
Design and Control of Series Elastic Actuator as Precise Interaction Control Actuator
Sehoon Oh received the B.S., M.S., and Ph.D. degrees in electrical engineering from The University of Tokyo, Japan, in 1998, 2000, and 2005, respectively. He was a Research Associate with The University of Tokyo until 2012, a Visiting Researcher with the University of Texas at Austin, USA, from 2010 to 2011, a Senior Researcher with the Samsung Heavy Industries, and a Research Professor with Sogang University, South Korea. He is currently an Associate Professor with the Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea. His research interests include the development of force control for human-friendly motion control algorithms and interactive devices for people.
As various mechatronic devices including robots is applied to humanfs daily life, mechatronics is confronted with new needs - interaction with humans. It is required for actuators to interact with humans safely while achieving desired tasks. In this talk, the requirements for the actuator to provide satisfactory interaction force are investigated, and actuator types that can successfully meets the requirements are suggested. Among those actuators, series elastic actuators (SEA) are examined thoroughly as the most potential interactive actuators which can realize precise interaction force while keeping safe interaction. The types of SEA as well as the dynamic analysis including their features are discussed, and advanced control algorithms related to SEA applications are introduced in this talk.