An Adaptive Control Method With Low-Resolution Encoder

2013 ◽  
Author(s):  
Zhenyu Zhang ◽  
Nejat Olgac
Keyword(s):  
Adaptive Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Biomedical Application ◽  
Control Procedure ◽  
Motion Sensors ◽  
Low Resolution ◽  
Biological Damage ◽  
Feedback Control Method ◽  
Rotational Oscillations

An adaptive control methodology with a low-resolution encoder feedback is presented for a biomedical application, the Ros-Drill (Rotationally Oscillating Drill). It is developed primarily for ICSI (Intra-Cytoplasmic Sperm Injection) operations, with the objective of tracking a desired oscillatory motion at the tip of a microscopic glass pipette. It is an inexpensive set-up, which creates high-frequency (higher than 500 Hz) and small-amplitude (around 0.2 deg) rotational oscillations at the tip of an injection pipette. These rotational oscillations enable the pipette to drill into cell membranes with minimum biological damage. Such a motion control procedure presents no particular difficulty when it uses sufficiently precise motion sensors. However, size, costs and accessibility of technology on the hardware components severely constrain the sensory capabilities. Consequently the control mission and the trajectory tracking are adversely affected. This paper presents a dedicated novel adaptive feedback control method to achieve a satisfactory trajectory tracking capability. We demonstrate via experiments that the tracking of the harmonic rotational motion is achieved with desirable fidelity.

scholarly journals An Adaptive Control Method for Ros-Drill Cellular Microinjector with Low-Resolution Encoder

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Zhenyu Zhang ◽  
Nejat Olgac
Keyword(s):  
Feedback Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Control Procedure ◽  
Motion Sensors ◽  
Low Resolution ◽  
Biological Damage ◽  
Feedback Control Method ◽  
Control Methodology ◽  
Rotational Oscillations

A novel control methodology which uses a low-resolution encoder is presented for a cellular microinjection technology called the Ros-Drill (rotationally oscillating drill). It is developed primarily for ICSI (intracytoplasmic sperm injection) operations, with the objective of generating a desired oscillatory motion at the tip of a micro glass pipette. It is an inexpensive setup, which creates high-frequency (higher than 500 Hz) and small-amplitude (around 0.2 deg) rotational oscillations at the tip of an injection pipette. These rotational oscillations enable the pipette to drill into cell membranes with minimum biological damage. Such a motion control procedure presents no particular difficulty when it uses sufficiently precise motion sensors. However, size, costs, and accessibility of technology to the hardware components severely constrain the sensory capabilities. Consequently, the control mission and the trajectory tracking are adversely affected. This paper presents two contributions: (a) a dedicated novel adaptive feedback control method to achieve a satisfactory trajectory tracking capability. We demonstrate via experiments that the tracking of the harmonic rotational motion is achieved with desirable fidelity; (b) some important analytical features and related observations associated with the controlled harmonic motion which is created by the low-resolution feedback control structure.

Adaptive Hybrid Control for Rotationally Oscillating Drill (Ros-Drill©), Using a Low-Resolution Sensor

2011 ◽  
Author(s):  
Zhenyu Zhang ◽  
Jhon Diaz ◽  
Nejat Olgac
Keyword(s):  
Control System ◽  
Hybrid Control ◽  
Control Procedure ◽  
Practical Case ◽  
Continuous Control ◽  
Motion Sensors ◽  
Low Resolution ◽  
Control Logic ◽  
Biological Damage ◽  
Rotational Oscillations

A novel hybrid (i.e., discrete/continuous) control system is studied on a cellular microinjector technology called the Ros-Drill© (Rotationally Oscillating Drill). Ros-Drill© is developed primarily for ICSI (Intra-Cytoplasmic Sperm Injection). It is an inexpensive set-up, which creates high-frequency rotational oscillations at the tip of an injection pipette tracking a harmonic motion profile. These rotational oscillations enable the pipette to drill into cell membranes with minimum biological damage. Such a motion control procedure presents no particular difficulty when it uses sufficiently precise motion sensors. However, size, costs and accessibility of technology on hardware components may severely constrain the sensory capabilities. Then the trajectory tracking is adversely affected. In this paper we handle such a practical case, and present a novel adaptive-hybrid control logic to overcome the hurdles. The control is implemented using a commonly available microcontroller and extremely low-resolution position measurements. First, the continuous control system is analyzed and designed. Then, an adaptive, robust and optimal PID (proportional-integral-derivative) control strategy is performed. We demonstrate via simulations and experiments that the tracking of the harmonic rotational motion is achieved with desirable fidelity.

A Model Reference Adaptive Control of a Magnetorheological Fluid Brake

2012 ◽  
Vol 77 ◽  
pp. 96-102
Author(s):  
Riccardo Russo ◽  
Mario Terzo
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Tracking Error ◽  
Magnetorheological Fluid ◽  
Model Reference Adaptive Control ◽  
Uncertain Parameters ◽  
Model Reference ◽  
Braking Torque ◽  
Feedback Control Method ◽  
Model Reference Adaptive

The paper describes an experimental/theoretical activity that involves a magnetorheological fluid brake (MRFB). The variability affecting the plant parameters suggests the employment of a model reference adaptive control finalized to regulate the braking torque. This feedback control method is able to minimize the tracking error in presence of a plant characterized by a known dynamics and uncertain parameters. Numerical simulations have been carried out and the obtained results confirm the goodness of the proposed approach.

scholarly journals Trajectory Tracking Control for Parafoil Systems Based on the Model-Free Adaptive Control Method

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 152620-152636
Author(s):  
Linggong Zhao ◽  
Weiliang He ◽  
Feikai Lv ◽  
Wang Xiaoguang
Keyword(s):  
Adaptive Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Tracking Control ◽  
Model Free

scholarly journals Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1289
Author(s):  
Dongdong Yuan ◽  
Yankai Wang
Keyword(s):  
Adaptive Control ◽  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Data Driven ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Model Free

In order to solve the problems of complex dynamic modeling and parameters identification of quadrotor formation cooperative trajectory tracking control, this paper proposes a data-driven model-free adaptive control method for quadrotor formation based on robust integral of the signum of the error (RISE) and improved sliding mode control (ISMC). The leader-follower strategy is adopted, and the leader realizes trajectory tracking control. A novel asymptotic tracking data-driven controller of quadrotor is used to control the system using the RISE method. It is divided into two parts: The inner loop is for attitude control and the outer loop for position control. Both use the RISE method in the loop to eliminate interference and this method only uses the input and output data of the unmanned aerial vehicle(UAV) system and does not rely on any dynamics and kinematics model of the UAV. The followers realize formation cooperative control, introducing adaptive update law and saturation function to improve sliding mode control (SMC), and it eliminates the general SMC algorithm controller design dependence on the mathematical model of the UAV and has the chattering problem. Then, the stability of the system is proved by the Lyapunov method, and the effectiveness of the algorithm and the feasibility of the scheme are verified by numerical simulation. The experimental results show that the designed data-driven model-free adaptive control method for the quadrotor formation is effective and can effectively realize the coordinated formation trajectory tracking control of the quadrotor. At the same time, the design of the controller does not depend on the UAV kinematics and dynamics model, and it has high control accuracy, stability, and robustness.

A longitudinal trajectory tracking method with L1 adaptive control for hypersonic reentry vehicles

2019 ◽  
Vol 42 (3) ◽  
pp. 386-403
Author(s):  
GenSen Han ◽  
Jun Zhou ◽  
JianGuo Guo ◽  
Qing Lu
Keyword(s):  
Adaptive Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Linear Time ◽  
Adaptive Controller ◽  
Terminal State ◽  
Linear Quadratic ◽  
L1 Adaptive Control ◽  
Reentry Vehicles ◽  
Lqr Controller

This paper presents a longitudinal trajectory tracking scheme with [Formula: see text] adaptive control for hypersonic reentry vehicles (HRVs). A linear time-varying (LTV) multiple input multiple output (MIMO) model, in which influences of lateral states, earth rotation, and linearization are considered as model uncertainties, is derived based on state and input errors of longitudinal model. The normalization of error model is used to reduce differences of magnitude orders in state and input matrix elements which may affect the stability of [Formula: see text] adaptive controller. In order to achieve an accurate tracking performance, a linear quadratic regulator (LQR) controller is employed as the baseline controller, augmented with an [Formula: see text] adaptive controller to attenuate the matched and unmatched uncertainties. Based on the augmented controller, the optimization process is executed with the estimate of uncertainties at the same time. The simulation results of LQR controller, [Formula: see text] augmentation controller and robust [Formula: see text] controller show that the [Formula: see text] adaptive control method can reduce the terminal and integral of squared state errors validly. Terminal state errors in all simulation scenarios are less than 2.5m/s, 1e-3 and 10m, respectively, which reflects its effectiveness in increasing robustness of baseline controller.

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