NDLI: Convergence Time Estimation for Iterative Adaptive On-Off Control of a Micro-Robotic Leg Joint

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Hahn, Bongsu Oldham, Kenn Richard
Copyright Year	2012
Abstract	Iterative adaptive on-off control is a potential control strategy for ultra-low-power control of micro-actuators that behave as capacitive loads. Such an approach allows for relatively low sensor sampling frequencies and the use of simple switched inputs, which can be implemented at lower power levels than control with analog inputs and real-time feedback. A technique is presented for estimating the convergence time of an on-off controller proposed for controlling stepping motion in autonomous micro-robots. Error in measured outputs at each iteration are estimated using upper bounds on output error as a function of error in on-off switching times and lower bounds on the change in on-off switching times from iteration to iteration. While a strict upper bound on error is not provided by the final error estimator, simulation and experimental results from the test case of a piezoelectric micro-robotic leg joint indicate reasonable agreement between estimated error and full controller behavior. Convergence estimates may then be used to improve controller design with respect to total energy consumed.
Sponsorship	Dynamic Systems and Control Division
Starting Page	33
Ending Page	39
Page Count	7
File Format	PDF
ISBN	9780791845301
DOI	10.1115/DSCC2012-MOVIC2012-8697
Volume Number	Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems
Conference Proceedings	ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
Language	English
Publisher Date	2012-10-17
Publisher Place	Fort Lauderdale, Florida, USA
Access Restriction	Subscribed
Subject Keyword	Design Errors Simulation Feedback Control equipment Microactuators Sensors Robotics Robots Stress
Content Type	Text
Resource Type	Article

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