Abstract
The paper introduces a modified version of a Proportional Integral Derivative (PID)-type iterative learning algorithm, which is very simple to implement on a digital control device for tracking control of a continuous-time system. The simulative application of it is for controlling a V-shaped electrothermal microactuator (VEM) and is carried out by using a Simscape model of VEM for the purpose that the asymptotic tracking behavior of system output to desired trajectory will be verified in a virtually real environment. Obtained simulation results confirm that the introduced iterative learning algorithm has not only provided a good output tracking behavior, as expected, but also is robust in the sense of reducing external disturbance effects.
Highlights
The V-shaped electrothermal microactuators (VEM) were firstly proposed by Michael J.Sinclair in 2000 [1]
This paper aims to figure out whether the introduced iterative learning control (ILC) algorithm can be applied to output tracking the VEM with a given desired tracking performance and if it can promisingly overcome the disadvantages of these previous methods
The paper proposes two types of discrete time iterative learning controllers to control the displacement of the continuous-time V-shaped electrothermal microactuator (VEM): the PD-type and the Proportional Integral Derivative (PID)-type
Summary
The V-shaped electrothermal microactuators (VEM) were firstly proposed by Michael J. This paper aims to figure out whether the introduced ILC algorithm can be applied to output tracking the VEM with a given desired tracking performance and if it can promisingly overcome the disadvantages of these previous methods. The answer to it will be obtained by carrying out a few computational simulations. It consists of n beam pairs (2) arrayed as a “V” letter with a slope angle of α in the x-direction. We have: plus a half of the expansion of the shuttle Δls (assuming that the shuttle expands on both tips B)
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