Convergence and Energy Analysis for Iterative Adaptive ON-OFF Control of Piezoelectric Microactuators

A technique is presented for estimating the number of iterations needed for convergence of iterative adaptive ON-OFF controllers to optimal switching times, for certain controllers proposed for managing stepping motion in autonomous microrobots. An upper bound on output error as a function of error...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2014-05, Vol.22 (3), p.1052-1060
Main Authors: Hahn, Bongsu, Oldham, Kenn Richard
Format: Article
Language:English
Subjects:
Adaptation models
Adaptive control systems
Adaptive systems
Controllers
Convergence
Estimates
Iterative control
Microactuators
microsystems
Permissible error
Piezoelectricity
Sensors
Switches
Switching
switching control
Vectors
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Summary:A technique is presented for estimating the number of iterations needed for convergence of iterative adaptive ON-OFF controllers to optimal switching times, for certain controllers proposed for managing stepping motion in autonomous microrobots. An upper bound on output error as a function of error in ON-OFF switching times is obtained, and lower bounds on the change in switching times from iteration-to-iteration are used to estimate output error evolution. The simulation and experimental results from the test case of a piezoelectric microrobotic leg joint indicate reasonable agreement between estimated and actual error. The use of convergence estimates to improve controller design with respect to total energy consumption is then described.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2013.2273259