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A Robust Motion Control with Anti-windup Scheme for Electromagnetic actuated Microrobot using Time Delay Estimation

Title
A Robust Motion Control with Anti-windup Scheme for Electromagnetic actuated Microrobot using Time Delay Estimation
Authors
Kim, JunyoungChoi, HongsooKim, Jonghyun
DGIST Authors
Choi, HongsooKim, Jonghyun
Issue Date
ACCEPT
Citation
IEEE/ASME Transactions on Mechatronics, 1-1
Type
Article
Author Keyword
Anti-windup; forgetting factor; microrobot control; switching action; time delay estimation
ISSN
1083-4435
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 anti-windup 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 three degree-of-freedom motion.
URI
http://hdl.handle.net/20.500.11750/9892
DOI
10.1109/tmech.2019.2907145
Publisher
Institute of Electrical and Electronics Engineers
Related Researcher
  • Author Choi, Hongsoo Bio-Micro Robotics Lab
  • Research Interests Micro/Nano robot; Neural prostheses; MEMS; BMI; MEMS/NEMS; BioMEMS; MEMS 초음파 트랜스듀스; 인공와우
Files:
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Collection:
Department of Robotics EngineeringBio-Micro Robotics Lab1. Journal Articles
Department of Robotics EngineeringREL(Rehabilitation Engineering Laboratory)1. Journal Articles


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