A Control method based on a simple dynamic optimizer: an application to micromachines with friction
PublisherMultidisciplinary Digital Publishing Institute (MDPI)
Rights accessOpen Access
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution 4.0 International
In Micromachines, like any mechanical system, friction compensation is an important topic for control design application. In real applications, a nonlinear control scheme has proven to be an efficient method to mitigate the effects of friction. Therefore, a new regulation control method based on a simple dynamic optimizer is proposed. The used optimizer has a finite-time convergence to the optimal value of a given performance index. This dynamic process is then modified to produce a new control scheme to resolve the regulation control statement. A stability test is also provided along with numerical simulations to support our approach. We used the Lyapunov theory to confirm the stability, in finite-time, of the obtained closed-loop system. Furthermore, we tested this controller in a scenario where the reference signal was a time-varying function applied to a micromachine with friction. Numerical experiments showed acceptable performance in mitigating the effects of friction in the mechanism. In the simulations, the well-known LuGre friction model was invoked.
CitationAcho, L. A Control method based on a simple dynamic optimizer: an application to micromachines with friction. "Micromachines (Basel)", Febrer 2023, vol. 14, núm. 2, article 387.
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