Title :
A robust controller for the manipulation of micro scale objects
Author :
Jagannathan, S. ; Yang, Qinmin
Author_Institution :
Dept. of Electr. & Comput. Eng., Missouri Univ., Rolla, MO, USA
Abstract :
A suite of novel robust controllers is presented for the manipulation and handling of micro-scale objects in a micro-electromechanical system (MEMS) where adhesive, surface tension, friction and van der Waals forces are dominant. Moreover, these forces are typically unknown. The robust controller overcomes the unknown system dynamics and ensures the performance in the presence of actuator constraints by assuming that the upper bounds on these forces are known. On the other hand, for the robust adaptive controller, the unknown forces are estimated online. Using the Lyapunov approach, the uniformly ultimate boundedness (UUB) of the closed-loop manipulation error is shown for pick and place tasks. Simulation results are presented to substantiate the theoretical conclusions.
Keywords :
Lyapunov methods; adaptive control; closed loop systems; manipulator dynamics; micromanipulators; robust control; Lyapunov approach; actuator constraints; closed-loop manipulation error; microelectromechanical system; microscale object; robust adaptive controller; surface tension; system dynamics; uniformly ultimate boundedness; van der Waals forces; Actuators; Control systems; Force control; Friction; Microelectromechanical systems; Micromechanical devices; Programmable control; Robust control; Surface tension; Upper bound;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1470629