Two-Degree-of-Freedom Control of a Micro-Robot Using a Dual-Rate State Observer

This brief presents a novel tracking control algorithm for a micro-robot based on dynamics and positional measurements. The algorithm improves the tracking performance and response time. We designed a two-degree-of-freedom (TDOF) control, which is widely utilized in industrial servo systems, for a micro-robot. Our TDOF control prevents undesirable effects, such as model uncertainty. The dynamic characteristics of a micro-robot were analyzed using the frequency response function (FRF), and a dynamic model specific for micro-robot motion was derived. This brief also addresses the dual-rate problem of micro-robot control systems by designing a dual-rate state observer (DSO) that provides positional information for the micro-robot when no camera updates are available. Thus, the TDOF controller provides feedback control at higher sampling frequencies. The performance of the controller was experimentally verified.

Automated summary

This brief presents a novel tracking control algorithm for a micro-robot based on dynamics and positional measurements. The algorithm improves the tracking performance and response time by designing a two-degree-of-freedom control and a dual-rate state observer to address the dual-rate problem of micro-robot control systems.