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Related Experiment Video

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Measurement of Vibration Detection Threshold and Tactile Spatial Acuity in Human Subjects
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Robust structured controllers for piezoelectric microactuators.

Rosario Toscano1, Ioan Alexandru Ivan2

  • 1Université de Lyon, LTDS, UMR CNRS 5513 - ECL/ENISE, 58 rue Jean Parot, 42023 Saint-Etienne cedex 2, France.

ISA Transactions
|December 3, 2014
PubMed
Summary
This summary is machine-generated.

This study presents a novel control scheme using shaping filters and the ν-gap metric for robust structured controller design. The heuristic Kalman algorithm (HKA) efficiently solves optimization problems for small actuators, enabling fast, precise positioning systems.

Keywords:
Heuristic Kalman algorithmNon-convex optimization problemsPiezoelectric actuatorsShaping filterStructured controllerUncertain systemscontrol

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Mechatronics

Background:

  • Designing structured controllers for small actuators is computationally challenging using traditional H∞ methods.
  • The non-convex nature of fixed-order or fixed-structure control problems poses significant difficulties.
  • Existing methods often require complex mathematical manipulations and numerous user-defined parameters.

Purpose of the Study:

  • To introduce a new control scheme for efficient control law development in small-size actuators.
  • To address the computational intractability of designing structured controllers.
  • To provide a direct and simplified approach to solving constrained non-convex optimization problems in control design.

Main Methods:

  • Incorporation of shaping filter concepts.
  • Application of the ν-gap metric for robust controller design.
  • Utilization of the heuristic Kalman algorithm (HKA) to solve non-convex optimization problems.

Main Results:

  • Development of a novel robust structured controller design.
  • Demonstration of computational tractability for small actuator control.
  • Successful resolution of constrained non-convex optimization problems without complex mathematics.

Conclusions:

  • The proposed control scheme is validated by experimental results.
  • The technique is convenient for developing fast and precise positioning systems.
  • The heuristic Kalman algorithm offers an effective solution for structured controller design.