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Two-Degree-of-Freedom Control of a Micro-Robot Using a Dual-Rate State Observer
- Source :
- IEEE Transactions on Control Systems Technology; 2023, Vol. 31 Issue: 3 p1451-1459, 9p
- Publication Year :
- 2023
-
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.
Details
- Language :
- English
- ISSN :
- 10636536 and 15580865
- Volume :
- 31
- Issue :
- 3
- Database :
- Supplemental Index
- Journal :
- IEEE Transactions on Control Systems Technology
- Publication Type :
- Periodical
- Accession number :
- ejs62919035
- Full Text :
- https://doi.org/10.1109/TCST.2022.3220898