A Model Compensation-Prediction Scheme for Control of Micromanipulation Systems with a Single Feedback Loop

TY - JOUR

T1 - A Model Compensation-Prediction Scheme for Control of Micromanipulation Systems with a Single Feedback Loop

AU - Zhang, Weize

AU - Qu, Juntian

AU - Zhang, Xuping

AU - Liu, Xinyu

PY - 2017

Y1 - 2017

N2 - Many micromanipulation systems employ sensorless actuators and possess unknown modeling errors, feedback measurement noises, and time delays. Conventional model-based control schemes ignore some of these uncertainties, and thus sacrifice the control system performance. This paper presents a new model compensation-prediction scheme for micromanipulation systems that can be described by two-dimensional state-space models, estimate the unknown modeling errors from noisy single feedback measurement, and predict and compensate the system time delay. This approach combines two modeling errors into a single equivalent modeling error through mathematical transformation, and estimates the combined term using a noise-insensitive extended high-gain observer. After removing the unknown term, the system is then transformed into a time-invariant form, and a Smith predictor is implemented to predict and compensate the time delay. The effectiveness of the proposed compensation-prediction scheme is demonstrated by both numerical simulations and experiments on two typical micromanipulation systems, namely a robotic biosample stimulator and a material characterization microgripper. The results show that this method can significantly improve the control performance of a conventional proportional-integral-derivative controller, by simultaneously reducing the settling time and overshoot of the micromanipulation systems.

AB - Many micromanipulation systems employ sensorless actuators and possess unknown modeling errors, feedback measurement noises, and time delays. Conventional model-based control schemes ignore some of these uncertainties, and thus sacrifice the control system performance. This paper presents a new model compensation-prediction scheme for micromanipulation systems that can be described by two-dimensional state-space models, estimate the unknown modeling errors from noisy single feedback measurement, and predict and compensate the system time delay. This approach combines two modeling errors into a single equivalent modeling error through mathematical transformation, and estimates the combined term using a noise-insensitive extended high-gain observer. After removing the unknown term, the system is then transformed into a time-invariant form, and a Smith predictor is implemented to predict and compensate the time delay. The effectiveness of the proposed compensation-prediction scheme is demonstrated by both numerical simulations and experiments on two typical micromanipulation systems, namely a robotic biosample stimulator and a material characterization microgripper. The results show that this method can significantly improve the control performance of a conventional proportional-integral-derivative controller, by simultaneously reducing the settling time and overshoot of the micromanipulation systems.

KW - Compensation

KW - micromanipulation system

KW - modeling errors

KW - noise-insensitive extended high-gain observer (EHGO)

KW - prediction

UR - http://www.scopus.com/inward/record.url?scp=85021988838&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2017.2721159

DO - 10.1109/TMECH.2017.2721159

M3 - Journal article

SN - 1083-4435

VL - 22

SP - 1973

EP - 1982

JO - IEEE - ASME Transactions on Mechatronics

JF - IEEE - ASME Transactions on Mechatronics

IS - 5

M1 - 7961243

ER -