磁性微机械臂的无模型控制器设计

IF 1.7 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-03-01 DOI:10.1115/1.4048489

G. Ablay

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引用次数: 1

摘要

设计了一种最优无模型控制器和线性控制器，并将其应用于卧式磁微机械臂中，用于液体环境下的微粒子控制。建立了基于输入输出关系的磁性微机械臂模型，并对其进行了验证，并将其应用于控制器的分析中。采用偏置电流法设计了无模型线性控制器。设计了一种基于Karush-Kuhn-Tucker条件的最优非线性控制器，并对其进行了改进，使其产生平滑的控制信号。实验结果表明了所提控制器的有效性和可行性。无模型控制器在磁性微粒控制中具有较短的稳定时间和零稳态误差。

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Model-Free Controller Designs for a Magnetic Micromanipulator

An optimal model-free controller and a linear controller are designed and applied to a horizontal magnetic micromanipulator for controlling microparticles in a liquid environment. An input–output relation based model for the magnetic micromanipulator is obtained, verified, and used in the analysis of controllers. A model-free linear controller is designed using the offset current approach. An optimal nonlinear controller based on Karush–Kuhn–Tucker conditions is designed and then modified to produce smooth control signals. Experimental results are provided to show the efficiency and feasibility of the proposed controllers. The model-free controllers yield short settling time and zero steady-state error in the control of magnetic microparticles.

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来源期刊

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme 工程技术-仪器仪表

CiteScore

3.90

自引率

11.80%

发文量

审稿时长

24.0 months

期刊介绍： The Journal of Dynamic Systems, Measurement, and Control publishes theoretical and applied original papers in the traditional areas implied by its name, as well as papers in interdisciplinary areas. Theoretical papers should present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. New theory or results that are only of mathematical interest without a clear engineering motivation or have a cursory relevance only are discouraged. "Application" is understood to include modeling, simulation of realistic systems, and corroboration of theory with emphasis on demonstrated practicality.