A Control Method Based on a Simple Dynamic Optimizer: An Application to Micromachines with Friction

Area of Science:

• Control Engineering
• Mechanical Engineering
• Robotics

Background:

• Friction compensation is crucial for micromachine control systems.
• Nonlinear control schemes effectively mitigate friction effects in mechanical systems.

Purpose of the Study:

• To propose a new regulation control method for micromachines using a dynamic optimizer.
• To achieve finite-time convergence for optimal performance index values.

Main Methods:

• A simple dynamic optimizer was developed and modified into a control scheme.
• Lyapunov theory was employed to confirm the finite-time stability of the closed-loop system.
• Numerical simulations utilized the LuGre friction model to test the controller.

Main Results:

• The proposed control scheme demonstrated acceptable performance in mitigating friction effects.
• The controller successfully managed a time-varying reference signal in a simulated micromachine.
• Finite-time stability of the closed-loop system was confirmed via Lyapunov theory.

Conclusions:

• The novel dynamic optimizer-based control method is effective for friction compensation in micromachines.
• The approach ensures finite-time stability, crucial for precise control applications.
• This method offers a viable solution for regulation control challenges in systems with friction.