High-Stroke Motion Modelling and Voltage/Frequency Proportional Control of a Stick-Slip Microsystem

Abstract— A new control type for stick-slip microsystems is proposed in this paper: the voltage/frequency (U/f) proportional control. It gives a best resolution relatively to the classical control algorithm. It is also an englobalization of three classical controllers: the sign controller, the classical proportional controller and the frequency proportional controller. A high stroke model of a stick-slip microsystem is first given. Then, we theoretically analyze the performances of the closed loop process with the U/f controller. Finally, we give some experimental results obtained with different values of the proportional gains.

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Micky Rakotondrabe, Yassine Haddab, Philippe Lutz
• Keywords: Classical Proportional Controller, Frequency Proportional Controller, ICRA 2007, Proportional Controller, Robotics