Modeling and Control Design of a Contact-Based, Electrostatically Actuated Rotating Sphere

The performance of micromirrors in terms their maximum deflection is often limited due to mechanical constraints the design. To increase range achievable angles, we present a novel concept which free-lying sphere with flat side as reflector can be rotated. Due large forces needed move sphere, multiple electrostatic actuators are used cooperatively rotate iterative steps by impacts and friction. A parameterized system-level model configuration derived, considers arbitrary multi-contact scenarios for simulation, analysis, control design purposes. complex, indirect relation between actuator voltages motion, model-based numerical optimization applied obtain suitable system inputs. This results rotation sequences, understood sequence motion primitives, thus transforming continuous time into an abstract discrete model. Based on this, propose feedback strategy trajectory following, considering uncertainties learning scheme. High precision achieved extension controlling angular change each step. suitability overall approach demonstrated simulation angles 40°, achieving velocities approximately 10°/s.