Gain Scheduling Control of a Nonlinear Electrostatic Microgripper: Design by an Eigenstructure Assignment With an Observer-Based Structure

Gorrec, Yann Le; Haddab, Yassine; Lutz, Philippe

doi:10.1109/tcst.2014.2362725

Cited by 19 publications

(5 citation statements)

References 27 publications

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“…This multimodel method has been first developed to deal with control issues in the field of aeronautics [26], [27]. It has then been applied with an experimental validation in the field of microsystems, and especially, for those involving nonlinear mechanical suspensions [28], [29]. This method has, nevertheless, not been designed to deal with hybrid control issues.…”

Section: Hybrid Control Issuementioning

confidence: 99%

“…With the classical ESA, it is not possible to assign more eigenstructures than the number of measurable outputs of the plant (2), and this is the degree of freedom constraint [26]. Moreover, the assignment does not guarantee the closed-loop robustness against the variations of [28], [29].…”

Section: A Closed-loop Control For a Frozen Value Of =mentioning

confidence: 99%

“…The proposed methodology of this article aims to design a robust and low conservative hybrid controller. The basis of this approach has been reported in [26] and [27] and has been studied in the case of microrobotics in the previous works [28], [29]. This methodology is extended here for hybrid control issues.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Hybrid Control of an Atomic Force Microscope for the Characterization of Interaction Force Regions at the Nanoscale

Cailliez

Liang

Régnier

2021

IEEE Trans. Contr. Syst. Technol.

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This article deals with a novel hybrid control of an atomic force microscope (AFM) for the robust characterization of interaction tip/sample force regions. The hybrid structure is composed of several position and force controllers and a specific switch compensation structure. A single selected controller is online at a time, and a robust bumpless switch between different control laws is designed. The objectives are the robustness of each controller and switch compensator with respect to uncertain parameters of the AFM. The method uses discrete points in the range of uncertainties. For each operating point, the hybrid controller is designed by an eigenstructure assignment. The method is generalized by a multimodel approach considering only uncertainties defined by a worst-case analysis, thus reducing the conservatism. The order of the controller is related to the number of observers selected by the user. This offers the possibility to design a low-order controller depending on the control specifications. The experimental results demonstrate the effectiveness of the hybrid controller for a fully automated landing procedure of the AFM tip on a sample surface and for force distance curve cycle characterization. Thanks to the robustness of the control method, landing and cycles are reproducible despite actuator uncertainties, friction variation due to aging, and instrumental issues such as the real-time data acquisition.

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Section: Hybrid Control Issuementioning

confidence: 99%

Section: A Closed-loop Control For a Frozen Value Of =mentioning

confidence: 99%

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Robust Hybrid Control of an Atomic Force Microscope for the Characterization of Interaction Force Regions at the Nanoscale

Cailliez

Liang

Régnier

2021

IEEE Trans. Contr. Syst. Technol.

Self Cite

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“…7 From the view of current research, the key issues in microgripper research are the selection of the driving mode, increasing the displacement magnification. Today, common driving modes of the microgripper include the piezoelectric drive, 7,8 electrostatic drive, 9,10 thermal drive, 11,12 shape memory alloy drive, 13,14 electromagnetic drive, 15,16 and pneumatic drive. 17,18 Compared with other driving modes, the piezoelectric drive has the advantages of fast response, high sensitivity, and large output force.…”

Section: Introductionmentioning

confidence: 99%

Research on three-stage amplified compliant mechanism-based piezo-driven microgripper

Chen

Deng

et al. 2020

Advances in Mechanical Engineering

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The microgripper based on the principle of lever amplification is easy to realize; however, the theoretical amplification factor is limited by the space size and the structure is not compact enough. The microgripper based on the triangular amplification principle has a compact structure and high amplification factor, but it is not conducive to miniaturization design. Considering compactness, parallel clamping, high magnification, and miniaturization design, a three-stage amplifier consisting of a semi-rhombic amplifier and lever amplifiers is designed. To begin with, the theoretical amplification ratio and the relationship between input variables and output variables are calculated by energy method. Furthermore, the finite element analysis software is used to optimize the structural parameters and analyze the performance of the model. Lastly, the experimental verification is carried out. At 150 V of driving voltage, the maximum output displacement was 530mm, and the actual magnification was 24 times. Microparts can be gripped in parallel and stably, which confirms the validity of the design.

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“…At present, a variety of microgrippers has been developed with different driving modes. The common driving modes of microgrippers are the piezoelectric drive [8,9], electrostatic drive [10,11], electrothermal drive [12,13], shape memory alloy (SMA) drive [14,15], pneumatic drive [16,17], etc. Compared with other driving modes, the piezoelectric drive has the advantages of small size, large output force, high sensitivity, and no gap.…”

Section: Introductionmentioning

confidence: 99%

Design of a Compliant Mechanism Based Four-Stage Amplification Piezoelectric-Driven Asymmetric Microgripper

Chen

Deng

et al. 2019

Micromachines

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The existing symmetrical microgrippers have larger output displacements compared with the asymmetrical counterparts. However, the two jaws of a symmetrical microgripper are less unlikely to offer the same forces on the two sides of a grasped micro-object due to the manufacture and assembly errors. Therefore, this paper proposes a new asymmetric microgripper to obtain stable output force of the gripper. Compared with symmetrical microgrippers, asymmetrical microgrippers usually have smaller output displacements. In order to increase the output displacement, a compliant mechanism with four stage amplification is employed to design the asymmetric microgripper. Consequently, the proposed asymmetrical microgripper possesses the advantages of both the stable output force of the gripper and large displacement amplification. To begin with, the mechanical model of the microgripper is established in this paper. The relationship between the driving force and the output displacement of the microgripper is then derived, followed by the static characteristics’ analysis of the microgripper. Furthermore, finite element analysis (FEA) of the microgripper is also performed, and the mechanical structure of the microgripper is optimized based on the FEA simulations. Lastly, experimental tests are carried out, with a 5.28% difference from the FEA results and an 8.8% difference from the theoretical results. The results from theoretical calculation, FEA simulations, and experimental tests verify that the displacement amplification ratio and the maximum gripping displacement of the microgripper are up to 31.6 and 632 μm, respectively.

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Gain Scheduling Control of a Nonlinear Electrostatic Microgripper: Design by an Eigenstructure Assignment With an Observer-Based Structure

Cited by 19 publications

References 27 publications

Robust Hybrid Control of an Atomic Force Microscope for the Characterization of Interaction Force Regions at the Nanoscale

Robust Hybrid Control of an Atomic Force Microscope for the Characterization of Interaction Force Regions at the Nanoscale

Research on three-stage amplified compliant mechanism-based piezo-driven microgripper

Design of a Compliant Mechanism Based Four-Stage Amplification Piezoelectric-Driven Asymmetric Microgripper

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