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.
Recommended Citation
Q. Yang and J. Sarangapani, "A Robust Controller for the Manipulation of Micro Scale Objects," Proceedings of the 2005 American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), Jan 2005.
The definitive version is available at https://doi.org/10.1109/ACC.2005.1470629
Meeting Name
2005 American Control Conference
Department(s)
Electrical and Computer Engineering
Second Department
Computer Science
Sponsor(s)
National Science Foundation (U.S.)
University of Missouri--Rolla. Intelligent Systems Center
Keywords and Phrases
Lyapunov Methods; Adaptive Control; Closed Loop Systems; Manipulator Dynamics; Micromanipulators; Robust Control
Document Type
Article - Conference proceedings
Document Version
Final Version
File Type
text
Language(s)
English
Rights
© 2005 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.
Publication Date
01 Jan 2005
Included in
Computer Sciences Commons, Electrical and Computer Engineering Commons, Operations Research, Systems Engineering and Industrial Engineering Commons
