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Adaptive impedance control of piezoelectric microgripper
Qingsong Xu1; Kok Kiong Tan2
2015-08-29
Source PublicationAdvances in Industrial Control
Publication PlaceSwitzerland
PublisherSpringer, Cham
Pages209-232
Abstract

Delicate interaction control is a crucial issue for automated microsystems dedicated to micromanipulation of microobjects. This chapter presents a framework of digital sliding mode generalized impedance control with adaptive switching gain to regulating both the position and contact force of a piezoelectric-bimorph microgripper for micromanipulation and microassembly applications. Based on a second-order dynamicsmodel, its implementation does not require a state observer and a hysteresis/ creep model. The stability of the control system is proved in theory, which ensures the tracking performance in the presence of model uncertainties and disturbances. The effectiveness of the scheme is validated by experimental investigations on the grasp operation of a microgear.

DOI10.1007/978-3-319-21623-2_10
URLView the original
ISBN978-3-319-21623-2; 978-3-319-21622-5
WOS IDWOS:000368107000012
WOS SubjectAutomation & Control Systems ; Nanoscience & Nanotechnology
WOS Research AreaAutomation & Control Systems ; Science & Technology - Other Topics
Scopus ID2-s2.0-85018369290
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeBook chapter
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Corresponding AuthorQingsong Xu
Affiliation1.Department of Electromechanical Engineering,University of Macau,Macau,Macao
2.Department of Electrical and Computer Engineering,National University of Singapore,Singapore,Singapore
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Qingsong Xu,Kok Kiong Tan. Adaptive impedance control of piezoelectric microgripper. Switzerland:Springer, Cham,2015:209-232.
APA Qingsong Xu,&Kok Kiong Tan.(2015).Adaptive impedance control of piezoelectric microgripper.Advances in Industrial Control,174,209-232.
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