Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jung, Hanul | - |
dc.contributor.author | Kwak, Suhui | - |
dc.contributor.author | Choi, Hongsoo | - |
dc.contributor.author | Oh, Sehoon | - |
dc.date.accessioned | 2023-01-06T19:10:12Z | - |
dc.date.available | 2023-01-06T19:10:12Z | - |
dc.date.created | 2022-12-12 | - |
dc.date.issued | 2023-05 | - |
dc.identifier.issn | 1063-6536 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/17321 | - |
dc.description.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. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.title | Two-Degree-of-Freedom Control of a Micro-Robot Using a Dual-Rate State Observer | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/TCST.2022.3220898 | - |
dc.identifier.wosid | 000886869300001 | - |
dc.identifier.scopusid | 2-s2.0-85142802458 | - |
dc.identifier.bibliographicCitation | IEEE Transactions on Control Systems Technology, v.31, no.3, pp.1451 - 1459 | - |
dc.description.isOpenAccess | FALSE | - |
dc.subject.keywordAuthor | Disturbance observer (DOB) | - |
dc.subject.keywordAuthor | dual-rate state observer (DSO) | - |
dc.subject.keywordAuthor | magnetic actuation | - |
dc.subject.keywordAuthor | micro-robot | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | SYSTEM | - |
dc.subject.keywordPlus | FABRICATION | - |
dc.citation.endPage | 1459 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 1451 | - |
dc.citation.title | IEEE Transactions on Control Systems Technology | - |
dc.citation.volume | 31 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems; Engineering | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems; Engineering, Electrical & Electronic | - |
dc.type.docType | Article | - |
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