A Robust Controller for the Manipulation of Micro-Scale Objects

Author

Sarangapani Jagannathan, Missouri University of Science and TechnologyFollow
Qinmin Yang

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. © 2005 AACC.

Recommended Citation

S. Jagannathan and Q. Yang, "A Robust Controller for the Manipulation of Micro-Scale Objects," Proceedings of the American Control Conference, vol. 6, pp. 4154 - 4159, Institute of Electrical and Electronics Engineers, Sep 2005.

Department(s)

Electrical and Computer Engineering

Second Department

Computer Science

International Standard Serial Number (ISSN)

0743-1619

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2024 Institute of Electrical and Electronics Engineers, All rights reserved.

Publication Date

01 Sep 2005