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Full-Text Articles in Controls and Control Theory
Robust Controller Design For An Electrostatic Micromechanical Actuator, Lili Dong, Jason Edwards
Robust Controller Design For An Electrostatic Micromechanical Actuator, Lili Dong, Jason Edwards
Electrical and Computer Engineering Faculty Publications
In this paper, a robust feedback controller is developed on an electrostatic micromechanical actuator to extend the travel range of it beyond pull-in limit. The actuator system is linearized at multiple operating points, and the controller is constructed based on the linearized model. Two kinds of controller designs are developed for set-point tracking of the actuator despite the presences of sensor noise and external disturbance. One of them is a regular fourth order Active Disturbance Rejection Controller (ADRC) and is able to achieve 97% of the maximum travel range. And the other one is a novel multi-loop controller with a …
Biogeography-Based Optimization For Hydraulic Prosthetic Knee Control, Tim Wilmot, George Thomas, Berney Montavon, Rick Rarick, Antonie J. Van Den Bogert, Steve Szatmary, Daniel J. Simon, William Smith, Sergey Samorezov
Biogeography-Based Optimization For Hydraulic Prosthetic Knee Control, Tim Wilmot, George Thomas, Berney Montavon, Rick Rarick, Antonie J. Van Den Bogert, Steve Szatmary, Daniel J. Simon, William Smith, Sergey Samorezov
Electrical and Computer Engineering Faculty Publications
We discuss open-loop control development and simulation results for a newly-developed cyber-physical system (CPS) used as a semi-active, above-knee prosthesis. The control signal of our CPS consists of two hydraulic valve settings that control a linear cylinder actuator and provide torque to the prosthetic knee. We develop open-loop control using biogeography-based optimization (BBO), which is a recently developed evolutionary algorithm. The research contributes to the field of cyber-physical systems by showing that it is possible to find effective open-loop control signals for our newly proposed semi-active hydraulic knee prosthesis through a dual-system optimization process which includes both human and robot …