Robust Fixed Point Transformations Based Adaptive Control of an Electrostatic Microactuator

Adaptive Control of an Electrostatic Micro-Actuator with Unbounded Dynamic Uncertainties based on Lyapunov Stability Criterion

In this paper, a model reference adaptive control is designed for perfect tracking of moveable electrode of an electrostatic microactuator. The adaptive control of the nonlinear model of this microactuator is constituted feedback control and adaptation law. A Lyapunov function is presented that it guarantees perfect tracking and parameter convergences. The simulation shows designed adaptive con...

Stabilization of a Modified Slotine-Li Adaptive Robot Controller by Robust Fixed Point Transformations

The “Adaptive Slotine-Li Robot Controller (ASLRC)” of the nineties of the past century was designed by a sophisticated process based on the use of Lyapunov’s 2nd method. In the possession of the exact analytical form of the system model it generally can achieve global asymptotic stability by learning the system’s exact dynamic parameters. However, it is not robust to friction effects and unknow...

New adaptive methods for Robust Fixed Point Transformations-based control of nonlinear systems

Designing a Robust Control Scheme for Robotic Systems with an Adaptive Observer

This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...

Efficient Multi-Physics Transient Analysis Incorporating Feedback-Dependent Boundary Conditions

This paper describes the ANSYS simulation of an electrostatically-actuated MEMS device, in which the drive voltages are computed using feedback control laws. The device consists of a movable electrode suspended on flexible, elastic structures, and one or more fixed drive electrodes. The feedback control laws are used to determine the level of a variable voltage supply in a drive circuit for eac...