Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Junyoung | - |
dc.contributor.author | Choi, Hongsoo | - |
dc.contributor.author | Kim, Jonghyun | - |
dc.date.accessioned | 2019-07-04T07:24:57Z | - |
dc.date.available | 2019-07-04T07:24:57Z | - |
dc.date.created | 2019-07-04 | - |
dc.date.issued | 2019-06 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/10093 | - |
dc.description.abstract | For the safety and efficacy of in vivo therapy using electromagnetic actuated microrobots, position tracking performance is crucially important. However, it is difficult to manipulate the microrobots accurately and rapidly due to the nonlinear and complex dynamics of the microrobots and highly limited magnetic force of the actuator. In this paper, we propose a robust control law for the microrobots. It consists of a time-delay estimation to compensate for the unknown/unmodeled dynamics, an antiwindup scheme, and a forgetting factor to improve the performance. In addition, we added a switching action to the control law in order to guarantee the stability of the controller. The improved performance and stability of the proposed control law were verified through an experiment that contains 3-DOF motion. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.title | A Robust Motion Control with Antiwindup Scheme for Electromagnetic Actuated Microrobot Using Time-Delay Estimation | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/TMECH.2019.2907145 | - |
dc.identifier.scopusid | 2-s2.0-85067595399 | - |
dc.identifier.bibliographicCitation | IEEE/ASME Transactions on Mechatronics, v.24, no.3, pp.1096 - 1105 | - |
dc.description.isOpenAccess | FALSE | - |
dc.subject.keywordAuthor | Antiwindup | - |
dc.subject.keywordAuthor | forgetting factor | - |
dc.subject.keywordAuthor | microrobot control | - |
dc.subject.keywordAuthor | switching action | - |
dc.subject.keywordAuthor | time-delay estimation (TDE) | - |
dc.subject.keywordPlus | Bioelectric phenomena | - |
dc.subject.keywordPlus | Data communication equipment | - |
dc.subject.keywordPlus | Magnetic actuators | - |
dc.subject.keywordPlus | Robust control | - |
dc.subject.keywordPlus | Time delay | - |
dc.subject.keywordPlus | Timing circuits | - |
dc.subject.keywordPlus | Anti-windup | - |
dc.subject.keywordPlus | Anti-windup schemes | - |
dc.subject.keywordPlus | Complex dynamics | - |
dc.subject.keywordPlus | Forgetting factors | - |
dc.subject.keywordPlus | Micro robots | - |
dc.subject.keywordPlus | Robust motion control | - |
dc.subject.keywordPlus | Time delay estimation | - |
dc.subject.keywordPlus | Tracking performance | - |
dc.subject.keywordPlus | Delay control systems | - |
dc.citation.endPage | 1105 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 1096 | - |
dc.citation.title | IEEE/ASME Transactions on Mechatronics | - |
dc.citation.volume | 24 | - |
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