An Incremental Feedback Control for Uncertain Mechanical System

Guo, Zhishan; He, Ping; Li, Heng; Huan, Liu; Xiong, Xingzhong; Wei, Zhouchao; Wei, Wei; Li, Yangmin

doi:10.1109/access.2019.2963052

Cited by 3 publications

(4 citation statements)

References 48 publications

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“…Substituting equations (11) into (12) with the term τ eliminated by using equation (10) to validate the closed-loop dynamics of system under the robust control, the following equation is obtained e + (γ + g 2 )ė + g 1 e =ṡ + γs,…”

Section: B Robust Tracking Control Methodsmentioning

confidence: 99%

“…In the matter of modeling and control for the nonlinear hysteresis effect, researcher has been conducted to model and compensate the nonlinear phenomenon caused by PZT [11]. Some modeling techniques of PZT have been also analyzed and presented including the charge steering model, the voltage input electromechanical model, the physical hysteresis model, and the neural network hysteresis model [12].…”

Section: Introductionmentioning

confidence: 99%

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Tracking Control of PZT-Driven Compliant Precision Positioning Micromanipulator

Chen

et al. 2020

IEEE Access

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This paper focuses on improving tracking performance of totally uncoupled compliant micromanipulator based on robust control method of elliptical hysteresis model. The hysteresis model and hysteresis compensation model for proposed mechanism based on Piezoelectric transducer (PZT) are established by using elliptical model method. The parameters of elliptical hysteresis model is identified by simulating method with different frequencies of control inputs. The uncertainty model is also established, its estimated parameters are conformed by experiment method. Based on the uncertainty model and elliptical hysteresis model, the robust tracking control method is presented and utilized to evaluate the tracking performance of proposed mechanism for inputting different tracking curves. The proposed method can accurately control the output displacement and tracking performance of this mechanism, which are validated and carried out by using experimental studies. Additionally, the coupling errors between two directions are kept within 0.14% and the tracking errors for different curves are within 2.5%.

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Section: B Robust Tracking Control Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Tracking Control of PZT-Driven Compliant Precision Positioning Micromanipulator

Chen

et al. 2020

IEEE Access

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“…In recent years, mechanical system has been widely concerned [1], [2]. Wirelesscontrollable microrobots have great…”

Section: Introductionmentioning

confidence: 99%

Motion Control of Magnetic Microrobot Using Uniform Magnetic Field

Zhang

Song

et al. 2020

IEEE Access

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A microrobot with untethered control in 3D space is a good choice to be applied in the fields of biomedicine with in small and confined workspace. In this paper, an electromagnetic actuation system (EMA) which combined with Helmholtz coil and Maxwell coil for the microrobot 5 DOF locomotion in 3D space is built. The magnetic field analysis of the proposed 3D EMA system was analyzed by finiteelement-method (FEM) with multi-physics COMSOL software. The proposed EMA system can produce magnetic field with different characteristics such as a controllable uniform gradient magnetic field, a rotating magnetic field and a oscillating magnetic field in a three-dimensional space by independently changing the current in each coil. In this paper the 3D motion dynamic equation model of microrobot was established. A novel control method for the gravity compensation for the wireless locomotive microrobot was proposed. The proposed method has the property that the direction of magnetic flux and the locomotion path of the microrobot are independent. Meanwhile, it can achieve the horizontal motions or nearly horizontal motions and overcome the gravity well at the same time. It has been verified by experiments in 3D liquid environment. With the proposed method, the microrobot shows good performance in horizontal motions as well as various motions in the 3D space.

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“…In addition, the system state value after infinite time may be meaningless for some practical engineering applications. 12–14 As we all know, most papers tried hard to study the asymptotic property of the system over an infinite-time interval, which cannot reflect the transient performance of the system. 15 Specially in some actual applications, large state values are not acceptable.…”

Section: Introductionmentioning

confidence: 99%

Finite-time bounded control design for one-sided Lipschitz differential inclusions

Zhou

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article considers finite-time bounded controller design for one-sided Lipschitz nonlinear differential inclusions. Sufficient conditions of finite-time bounded criterion are given employing convex hull Lyapunov function approach. An algorithm is designed to calculate the finite-time bounded controller. Moreover, a system initial state selection method is presented to find the domain of system initial state aid for transforming quasi-linear matrix inequality–based conditions to linear matrix inequality-based conditions. Finally, a numerical example and a comparison experiment example are given to illustrate the effectiveness of this proposed design method.

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An Incremental Feedback Control for Uncertain Mechanical System

Cited by 3 publications

References 48 publications

Tracking Control of PZT-Driven Compliant Precision Positioning Micromanipulator

Tracking Control of PZT-Driven Compliant Precision Positioning Micromanipulator

Motion Control of Magnetic Microrobot Using Uniform Magnetic Field

Finite-time bounded control design for one-sided Lipschitz differential inclusions

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