Two-Degree-of-Freedom Control of a Micro-Robot Using a Dual-Rate State Observer

Hanul Jung, Suhui Kwak, Hongsoo Choi, Sehoon Oh

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

This brief presents a novel tracking control algorithm for a micro-robot based on dynamics and positional measurements. The algorithm improves the tracking performance and response time. We designed a two-degree-of-freedom (TDOF) control, which is widely utilized in industrial servo systems, for a micro-robot. Our TDOF control prevents undesirable effects, such as model uncertainty. The dynamic characteristics of a micro-robot were analyzed using the frequency response function (FRF), and a dynamic model specific for micro-robot motion was derived. This brief also addresses the dual-rate problem of micro-robot control systems by designing a dual-rate state observer (DSO) that provides positional information for the micro-robot when no camera updates are available. Thus, the TDOF controller provides feedback control at higher sampling frequencies. The performance of the controller was experimentally verified.

Original languageEnglish
Pages (from-to)1451-1459
Number of pages9
JournalIEEE Transactions on Control Systems Technology
Volume31
Issue number3
DOIs
StatePublished - 1 May 2023

Bibliographical note

Publisher Copyright:
© 1993-2012 IEEE.

Keywords

  • Disturbance observer (DOB)
  • dual-rate state observer (DSO)
  • magnetic actuation
  • micro-robot

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