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 language | English |
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Pages (from-to) | 1451-1459 |
Number of pages | 9 |
Journal | IEEE Transactions on Control Systems Technology |
Volume | 31 |
Issue number | 3 |
DOIs | |
State | Published - 1 May 2023 |
Bibliographical note
Publisher Copyright:© 1993-2012 IEEE.
Keywords
- Disturbance observer (DOB)
- dual-rate state observer (DSO)
- magnetic actuation
- micro-robot