Robust adaptive tracking control of uncertain electrostatic micro-actuators with H-infinity performance |
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| Authors: | Wenlei Li Peter X Liu |
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| Affiliation: | 1. College of Information Science and Engineering, Ningbo University, Ningbo 315211, PR China;2. Department of Systems and Computer Engineering, Carleton University, Ottawa, ON, Canada K1S 5B6;1. School of Electrical Engineering, Tel Aviv University, Israel;2. Saint Petersburg State University, St. Petersburg, Russia;3. Institute for Problems of Mechanical Engineering, Russian Academy of Sciences, St. Petersburg, Russia;4. University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA;1. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, 100083, PR China;2. Institute of Advanced Technology, Nanjing University of Posts and Telecommunications, Nanjing 210003, PR China;3. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, PR China;4. College of Information Science and Engineering, Northeastern University, Shenyang 110004, PR China;1. Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;2. Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China, Wuhan 430074, China;3. Texas A&M University at Qatar, Doha 5825, Qatar |
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| Abstract: | A novel adaptive robust tracking control scheme is proposed for a class of single-degree-of-freedom (1DOF) electrostatic micro-actuator systems in the presence of parasitics, parameter uncertainties and external disturbances. This method integrates the adaptive dynamic surface control and H-infinity control techniques. Based on this method, both the design procedure and the derived tracking controller itself are simplified, and the controller guarantees that the output tracking error satisfies the H-infinity tracking performance. In addition, the tracking accuracy can be adjusted by an appropriate choice of the design parameters of the controller. Simulation results show that prescribed transient output tracking performance can be achieved, and the closed-loop system exhibits good robustness to system uncertainties. |
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