Interval Modeling and Robust Control of Piezoelectric Microactuators

Abstract

Abstract-Microsystems are very sensitive to environmental disturbances (thermal variation, surrounding vibration, microobjects in contact with them, etc.) and they are often subjected to small degradation or their behaviors are often affected during the functioning. As a result, their parameters often change during the micromanipulation, microassembly or measurement tasks and the accuracy or even the stability may be lost. For that, robust control laws should be introduced to control them and to ensure the performance.H∞ and µ-synthesis approaches were the classical robust techniques used to control microsystems. They are undeniably efficient but they lead to high-order controllers that are sometimes inconvenient for real-time embedded systems. In this paper, by the means of interval numbers that are used to characterize the uncertain parameters, we propose a method to synthesize simple controllers ensuring robust performance for microsystems. The controller synthesis is formulated as a set-inclusion problem. The main advantages of the proposed method are the ease of modeling the uncertain parameters thanks to intervals and the simplicity and low-order of the derived controllers. The method is afterwards applied to model and control piezoelectric microactuators and the experimental results show its efficiency. Finally, using the H∞ technique, we also demonstrate numerically the performance robustness of the closed-loop with the designed controller.

Modeling and control of a piezoelectric microactuator with proprioceptive sensing capabilities

“…21). Let us note that the bandwidth that is reached by our low-order control scheme is compatible with micromanipulation tasks requirements and similar to bandwidth of other control schemes [27] [21]. …”

Load Self-Sensing Control Scheme for Telemanipulation - Part 1: Theory

“…Two new equations are obtained (7) and (8), which describes the Slave subsystem in the Fig. 3, including external forces: (8) Subtracting equations (7) and (8) and after simplifying them, we obtain the equation (9):…”

S Teleoperation System Based on 1-DOF Pneumatic Maipulator

“…Finally, Micky Rakotondrabe continue his studies and, in 2015, presented his work about a self-sensing technique, using an actuator as a sensor at the same time [20,46]. This was possible for most actuators with a physically reversible principle, such as piezoelectric materials.…”

“…The difference between figures presenting sensor methods thus far is that, in the case of the proposed control scheme, there are no sensors mediating between the manipulator body and the environment, relative to paper [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19]. The same thing can be noticed in self-sensing piezo-ceramic microcontrollers used for micromanipulation and in [2,20,28,32,41,[43][44][45][46]. The only sensors used in the whole system are position encoders and pressure sensors.…”