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- W2013817211 abstract "A novel model-free iterative adaptive controller is presented for low-power control of piezoelectric actuators. The controller uses simple adaptation rules based on known general behavior of piezoelectric actuators to adjust on-off switching times to drive piezoelectric actuators through a desired transient step motion. Adaptation rules are based on small numbers of measurements taken during each iteration of the actuator movement. Combined with the use of only on-off control inputs, controller implementation can be possible at much lower overall power levels than would be needed to implement a conventional control strategy such as through pulse-width-modulation (PWM) with real-time feedback. Such power savings are particularly important for the intended controller application to piezoelectric microactuators driving autonomous terrestrial micro-robots. A method for predicting convergence of systems with nominally linear dynamics and unknown, bounded nonlinearities is described, and applied to a sample target piezoelectric actuator. The controller is tested in simulation and experimentally on a piezoelectric cantilever actuator, and shows predicted convergence to the desired response. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society" @default.
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- W2013817211 date "2011-06-19" @default.
- W2013817211 modified "2023-09-27" @default.
- W2013817211 title "On-off iterative adaptive controller for low-power micro-robotic step regulation" @default.
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- W2013817211 doi "https://doi.org/10.1002/asjc.410" @default.
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