High performance teleoperation by bumpless transfer of robust controllers

Martinez, Cesar A. Lopez; Molengraft, René van de; Steinbuch, M Maarten

doi:10.1109/haptics.2014.6775456

Cited by 2 publications

(1 citation statement)

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“…The proportional controller induces a tradeoff between the closed loop bandwidth and the stability margin. Some other methods can also be used to deal with robustness issues [25]. None of these methods have the property of been robust and low conservative.…”

Section: Introductionmentioning

confidence: 99%

Robust Hybrid Control of an Atomic Force Microscope for the Characterization of Interaction Force Regions at the Nanoscale

Cailliez

Liang

Régnier

2021

IEEE Trans. Contr. Syst. Technol.

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This article deals with a novel hybrid control of an atomic force microscope (AFM) for the robust characterization of interaction tip/sample force regions. The hybrid structure is composed of several position and force controllers and a specific switch compensation structure. A single selected controller is online at a time, and a robust bumpless switch between different control laws is designed. The objectives are the robustness of each controller and switch compensator with respect to uncertain parameters of the AFM. The method uses discrete points in the range of uncertainties. For each operating point, the hybrid controller is designed by an eigenstructure assignment. The method is generalized by a multimodel approach considering only uncertainties defined by a worst-case analysis, thus reducing the conservatism. The order of the controller is related to the number of observers selected by the user. This offers the possibility to design a low-order controller depending on the control specifications. The experimental results demonstrate the effectiveness of the hybrid controller for a fully automated landing procedure of the AFM tip on a sample surface and for force distance curve cycle characterization. Thanks to the robustness of the control method, landing and cycles are reproducible despite actuator uncertainties, friction variation due to aging, and instrumental issues such as the real-time data acquisition.

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Section: Introductionmentioning

confidence: 99%