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On‐off iterative adaptive controller for low‐power micro‐robotic step regulation
dc.contributor.authorHahn, Bongsuen_US
dc.contributor.authorOldham, Kennen_US
dc.date.accessioned2012-07-12T17:24:25Z
dc.date.available2013-07-01T14:33:05Zen_US
dc.date.issued2012-05en_US
dc.identifier.citationHahn, Bongsu; Oldham, Kenn (2012). "On‐off iterative adaptive controller for low‐power micro‐robotic step regulation." Asian Journal of Control (3): 624-640. <http://hdl.handle.net/2027.42/92078>en_US
dc.identifier.issn1561-8625en_US
dc.identifier.issn1934-6093en_US
dc.identifier.urihttps://hdl.handle.net/2027.42/92078
dc.description.abstractA novel model‐free iterative adaptive controller is presented for low‐power control of piezoelectric actuators. The controller uses simple adaptation rules based on known general behavior of piezoelectric actuators to adjust on‐off switching times to drive piezoelectric actuators through a desired transient step motion. Adaptation rules are based on small numbers of measurements taken during each iteration of the actuator movement. Combined with the use of only on‐off control inputs, controller implementation can be possible at much lower overall power levels than would be needed to implement a conventional control strategy such as through pulse‐width‐modulation (PWM) with real‐time feedback. Such power savings are particularly important for the intended controller application to piezoelectric microactuators driving autonomous terrestrial micro‐robots. A method for predicting convergence of systems with nominally linear dynamics and unknown, bounded nonlinearities is described, and applied to a sample target piezoelectric actuator. The controller is tested in simulation and experimentally on a piezoelectric cantilever actuator, and shows predicted convergence to the desired response. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Societyen_US
dc.publisherJohn Wiley & Sons, Ltd.en_US
dc.subject.otherIterative Learning Controlen_US
dc.subject.otherMEMSen_US
dc.subject.otherAdaptive Controlen_US
dc.titleOn‐off iterative adaptive controller for low‐power micro‐robotic step regulationen_US
dc.typeArticleen_US
dc.rights.robotsIndexNoFollowen_US
dc.subject.hlbsecondlevelIndustrial and Operations Engineeringen_US
dc.subject.hlbsecondlevelEngineering and Computer Science Engineeringen_US
dc.subject.hlbtoplevelEngineeringen_US
dc.description.peerreviewedPeer Revieweden_US
dc.contributor.affiliationumDepartment of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, U.S.A.en_US
dc.description.bitstreamurlhttp://deepblue.lib.umich.edu/bitstream/2027.42/92078/1/asjc410.pdf
dc.identifier.doi10.1002/asjc.410en_US
dc.identifier.sourceAsian Journal of Controlen_US
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dc.owningcollnameInterdisciplinary and Peer-Reviewed


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