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Author: search.filters.author.Boksuwan, SungwanSubject: search.filters.subject.PID controller

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    High performance periodical paths tracking of two-dimensional handheld micromanipulator using explicit model predictive control
    (2017-02-18)
    Boksuwan, Sungwan
    ;
    Cheypoca, Thepjit
    ;
    Chesof, Abdulhafiz
    ;
    Kanamori, Chisato
    ;
    Panaudomsup, Sumit
    The paper proposes an explicit model predictive control framework for a two-dimensional handheld micromanipulator to track periodical reference paths within microscopic working range and for all holding angles of users' hand. The control objective is to achieve a minimum tracking error and a wide bandwidth. The micromanipulator's design is oriented to such bio cell treatments. Its structure consists of two flexible decoupling links, each of which is driven by the combination of electric coils and permanent magnets as an actuator. In the experiments, the proposed framework is compared with two types of PID controllers, parameters of which are designed by Skogestand's IMC and IMC method based on the underdamped transfer function, respectively. The experimental results exhibit the effectiveness of the two-dimensional handheld micromanipulator controlled by the model predictive control framework over the PID controller ones.
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    Robust hybrid control for two-dimensional handheld micromanipulator
    (2014-01-01)
    Boksuwan, Sungwan
    ;
    Benjanarasuth, Taworn
    ;
    Kanamori, Chisato
    ;
    Aoyama, Hisayuki
    This paper proposes a two-dimensional handheld mi-cromanipulator oriented toward bio cell handling. The micromanipulator consists of two flexible links, each of which is constructed with a parallel beam structure. Electric coils and permanent magnets are used to produce an actuator to form double drivers. An explicit model predictive control combined with a PID controller called a robust hybrid control is proposed not only to achieve robust tracking performance, but also to dampen the vibration of the mechanism. The experimental results are compared to results from a standard PID controller to investigate the effectiveness of the micromanipulator.