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Identification and Robust Controllers for an Electrostatic Microgripper

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Abstract

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.

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Acknowledgements

The project (Convênio no. 01.0037.00/2014, SICONV no. 814255) is supported by MCTIC (Ministério da Ciência, Tecnologia, Inovações e Comunicações), CAPES, CNPq and IPT, Brazil.

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Authors and Affiliations

  1. Laboratório de Automação e Controle (LAC), Universidade de São Paulo, São Paulo, Brasil

    Andrei A. Felix & Diego Colón

  2. Laboratório de Micromanufatura, Instituto e Pesquisas Tecnológicas, São Paulo, Brazil

    Bruno M. Verona, Luciana W. S. L. Ramos & Mario R. Gongora-Rubio

  3. Scinntech, São Paulo, Brazil

    Houari Cobas-Gomez

Authors
  1. Andrei A. Felix
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  2. Diego Colón
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  3. Bruno M. Verona
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  4. Luciana W. S. L. Ramos
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  5. Houari Cobas-Gomez
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  6. Mario R. Gongora-Rubio
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Correspondence to Diego Colón.

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Felix, A.A., Colón, D., Verona, B.M. et al. Identification and Robust Controllers for an Electrostatic Microgripper. J. Vib. Eng. Technol. 9, 389–397 (2021). https://doi.org/10.1007/s42417-020-00241-2

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  • DOI: https://doi.org/10.1007/s42417-020-00241-2

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