Purpose

In this paper, it is presented system identification and design of robust force controllers for an electrostatic microgripper grabbing a microparticle.

Methods

Firstly, it is analysed the most common models in the literature and then the identification process is performed. It is identified a family of models of Box–Jenkins type. Linear controllers of increasing complexity are designed, which are of low order aiming to reduce the computational burden in real-time. The controllers must have robustness of stability and performance.

Results and conclusions

Simulations are performed in order to validate the controllers, which have robustness of stability and performance. Suggestions of future work are presented.

中文翻译：

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静电微抓钳的识别和鲁棒控制器

目的

在本文中，提出了用于静电微粒抓取微粒的鲁棒力控制器的系统识别和设计。

方法

首先，分析了文献中最常见的模型，然后进行了识别过程。它被确定为Box–Jenkins类型的模型家族。设计了复杂度越来越高的线性控制器，该线性控制器是低阶的，旨在实时减少计算负担。控制器必须具有稳定性和性能的鲁棒性。

结果与结论

为了验证控制器具有稳定性和性能的鲁棒性，执行了仿真。提出了未来工作的建议。