Experimental Validation of Nussbaum Gain Adaptive Control for a Polymer Composite Based Electromagnetic Micromirror
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- 英文论文题名：Experimental Validation of Nussbaum Gain Adaptive Control for a Polymer Composite Based Electromagnetic Micromirror
- 论文作者：Jiazheng Tan ; Weijie Sun ; John T.W.Yeow
- 英文论文作者：Jiazheng Tan ; Weijie Sun ; John T.W.Yeow ; Department of Automation Science and Engineering ; South China University of Technology ; Advanced Micro/Nano Devices Laboratory ; Systems Design Engineering ; University of Waterloo
- 年：2017
- 作者机构：Department of Automation Science and Engineering,South China University of Technology;Advanced Micro/Nano Devices Laboratory,Systems Design Engineering,University of Waterloo;
- 英文论文关键词：Nussbaum gain ; Backstepping design ; Unknown control direction ; Electromagnetic micromirror
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP273.2
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：5
- 文件大小：374k
- 原文格式：D
- 会议级别：全国
摘要
In this article, an adaptive controller based on Nussbaum gain technique and backstepping method is designed for a polymer composite based hard-magnetic micromirror. With the Nussbaum gain exploited, the unknown control direction problem is solved. As a result, the closed-loop system with proposed controller design is able to track the desired reference signal asymptotically. The effectiveness of the adaptive controller is verified by experimental results on a micromirror-based platform.
In this article, an adaptive controller based on Nussbaum gain technique and backstepping method is designed for a polymer composite based hard-magnetic micromirror. With the Nussbaum gain exploited, the unknown control direction problem is solved. As a result, the closed-loop system with proposed controller design is able to track the desired reference signal asymptotically. The effectiveness of the adaptive controller is verified by experimental results on a micromirror-based platform.
In this article, an adaptive controller based on Nussbaum gain technique and backstepping method is designed for a polymer composite based hard-magnetic micromirror. With the Nussbaum gain exploited, the unknown control direction problem is solved. As a result, the closed-loop system with proposed controller design is able to track the desired reference signal asymptotically. The effectiveness of the adaptive controller is verified by experimental results on a micromirror-based platform.
引文
[1]J.T.W.Yeow,V.X.D.Yang,A.Chahwan,M.L.Gordon,B.Qi,I.A.Vitkin,B.C.Wilson,A.A.Goldenberg,Micromachined 2-D scanner for 3-D optical coherence tomography,Sens.Actuators A,117(2):331–340,2005.
[2]P.B.Chu,S.S.Lee,S.Park,MEMS:the path to large optical crossconnects,IEEE Commun.Mag.,40(3):80–87,2002.
[3]A.D.Yalcinkaya,H.Urey,D.Brown,T.Montague,R.Sprague,Two axis electromagnetic microscanner for high resolution displays,J.Microelectromech.Syst,15(4):786–794,2006.
[4]J.Du,C.Guo,Nonlinear adaptive ship course tracking control based on backstepping and Nussbaum gain,in Proceedings of23rd American Control Conference,2004:3845–3850.
[5]J.Yu,Y.Wu,Global set point tracking control for a class of nonlinear systems and its application in continuously stirred tank reactor systems,IET Control Theory Appl.,6(12):1965–1971,2012.
[6]T.R.Oliveira,H.Liu,A.J.Peixoto,Output-feedback global tracking for unknown control direction plants with application to extremum seeking control,Automatica,47(9):2029–2038,2011.
[7]R.Nussbaum,Some remarks on a conjecture in parameter adaptive control,Syst.Control Lett.,3(5):243–246,1983.
[8]D.R.Mudgett,A.S.Morse,Adaptive stabilization of systems with unknown high frequency gain,IEEE Trans.on Automatic Control,30(6):549-554,1985.
[9]B.Martensson,The order of any stabilizing regulator is sufficient a priori information for adaptive stabilization,Syst.Control Lett.,6(2):85-91,1985.
[10]E.P.Ryan,A nonlinear universal servomechanism,IEEE Trans.on Automatic Control,39(4):753–761,1994.
[11]E.P.Ryan,Remarks on adaptive stabilization of first order nonlinear systems,Syst.Control Lett.,14(1):1–7,1990.
[12]X.Ye,J.Jiang,Adaptive nonlinear design without a priori knowledge of control directions,IEEE Trans.on Automatic Control,43(11):1617–1621,1998.
[13]S.S.Ge,J.Wang,Robust adaptive tracking for time-varying uncertain nonlinear systems with unknown control coefficients,IEEE Trans.on Automatic Control,48(8):1463–1469,2003.
[14]T.H.Lee,K.S.Narendra,Stable discrete adaptive control with unknown high-frequency gain,IEEE Trans.on Automatic Control,31(5):477–478,1986.
[15]C.G.Yang,S.S.Ge,T.H.Lee,Output feedback adaptive control of a class of nonlinear discrete-time systems with unknown control directions,Automatica,45(1):270–276,2009.
[16]M.Krstic,P.V.Kokotovic,I.Kanellakopoulos,Nonlinear and Adaptive Control Design,New York,NY,USA:Wiley,1995.
[17]M.Pallapa,J.T.W.Yeow,Design,fabrication and testing of a polymer composite based hard-magnetic mirror for biomedical scanning applications,J.Electrochem.Soc.,161(2):B3006–3013,2013.
[18]S.O.Isikman,H.Urey,Dynamic modeling of soft magnetic film actuated scanners,IEEE Trans.on Magnetics,45(7):2912–2919,2009.
[19]H.Urey,C.Kan,Vibration mode frequency formulae for micromechanical scanners,”J.Micromech,Microeng,15(9):1713–1721,2005.
[20]J.W.Judy,R.S.Muller,Magnetically actuated,addressable microstructures,J.Microelectromech.Syst,6(3):249–256,1997.
[2]P.B.Chu,S.S.Lee,S.Park,MEMS:the path to large optical crossconnects,IEEE Commun.Mag.,40(3):80–87,2002.
[3]A.D.Yalcinkaya,H.Urey,D.Brown,T.Montague,R.Sprague,Two axis electromagnetic microscanner for high resolution displays,J.Microelectromech.Syst,15(4):786–794,2006.
[4]J.Du,C.Guo,Nonlinear adaptive ship course tracking control based on backstepping and Nussbaum gain,in Proceedings of23rd American Control Conference,2004:3845–3850.
[5]J.Yu,Y.Wu,Global set point tracking control for a class of nonlinear systems and its application in continuously stirred tank reactor systems,IET Control Theory Appl.,6(12):1965–1971,2012.
[6]T.R.Oliveira,H.Liu,A.J.Peixoto,Output-feedback global tracking for unknown control direction plants with application to extremum seeking control,Automatica,47(9):2029–2038,2011.
[7]R.Nussbaum,Some remarks on a conjecture in parameter adaptive control,Syst.Control Lett.,3(5):243–246,1983.
[8]D.R.Mudgett,A.S.Morse,Adaptive stabilization of systems with unknown high frequency gain,IEEE Trans.on Automatic Control,30(6):549-554,1985.
[9]B.Martensson,The order of any stabilizing regulator is sufficient a priori information for adaptive stabilization,Syst.Control Lett.,6(2):85-91,1985.
[10]E.P.Ryan,A nonlinear universal servomechanism,IEEE Trans.on Automatic Control,39(4):753–761,1994.
[11]E.P.Ryan,Remarks on adaptive stabilization of first order nonlinear systems,Syst.Control Lett.,14(1):1–7,1990.
[12]X.Ye,J.Jiang,Adaptive nonlinear design without a priori knowledge of control directions,IEEE Trans.on Automatic Control,43(11):1617–1621,1998.
[13]S.S.Ge,J.Wang,Robust adaptive tracking for time-varying uncertain nonlinear systems with unknown control coefficients,IEEE Trans.on Automatic Control,48(8):1463–1469,2003.
[14]T.H.Lee,K.S.Narendra,Stable discrete adaptive control with unknown high-frequency gain,IEEE Trans.on Automatic Control,31(5):477–478,1986.
[15]C.G.Yang,S.S.Ge,T.H.Lee,Output feedback adaptive control of a class of nonlinear discrete-time systems with unknown control directions,Automatica,45(1):270–276,2009.
[16]M.Krstic,P.V.Kokotovic,I.Kanellakopoulos,Nonlinear and Adaptive Control Design,New York,NY,USA:Wiley,1995.
[17]M.Pallapa,J.T.W.Yeow,Design,fabrication and testing of a polymer composite based hard-magnetic mirror for biomedical scanning applications,J.Electrochem.Soc.,161(2):B3006–3013,2013.
[18]S.O.Isikman,H.Urey,Dynamic modeling of soft magnetic film actuated scanners,IEEE Trans.on Magnetics,45(7):2912–2919,2009.
[19]H.Urey,C.Kan,Vibration mode frequency formulae for micromechanical scanners,”J.Micromech,Microeng,15(9):1713–1721,2005.
[20]J.W.Judy,R.S.Muller,Magnetically actuated,addressable microstructures,J.Microelectromech.Syst,6(3):249–256,1997.