Intelligent robust controller design for a micro-actuator

Marialena Vagia, George Nikolakopoulos, Antonios Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this article the design of an intelligent robust controller for a Micro-Actuator (μ - A) is presented. The μ - A is composed of a micro-capacitor, whose one plate is clamped while its other flexible plate's motion is constrained by hinges acting as a combination of springs and dashpots. The distance of the plates is varied by the applied voltage between them. The dynamics of the plate's rigid-body motion results in an unstable, nonlinear system. The control structure is constructed from: a) a feedforward controller which stabilizes the micro-actuator around its nominal operating point, b) a robust PID controller whose gains are initially tuned via the utilization of Linear Matrix Inequalities (LMIs) and subsequently are switched according to the position of the upper plate, and c) an intelligent prefilter which appropriately shapes the reference signal. The resulting overall control scheme is applied to the non-linear model of the μ-A where simulation results are presented to prove the efficacy of the suggested scheme.

Original languageEnglish (US)
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages1191-1196
Number of pages6
Volume2005
DOIs
Publication statusPublished - Dec 1 2005
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
Duration: Dec 12 2005Dec 15 2005

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CountrySpain
CitySeville
Period12/12/0512/15/05

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Vagia, M., Nikolakopoulos, G., & Tzes, A. (2005). Intelligent robust controller design for a micro-actuator. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (Vol. 2005, pp. 1191-1196). [1582320] https://doi.org/10.1109/CDC.2005.1582320