LAUSR

In Micromachines, like any mechanical system, friction compensation is an important topic for control design application. In real applications, a nonlinear control scheme has proven to be an efficient method to mitigate the effects of friction. Therefore, a new regulation control method based on a simple dynamic optimizer is proposed. The used optimizer has a finite-time convergence to the optimal value of a given performance index. This dynamic process is then modified to produce a new control scheme to resolve the regulation control statement. A stability test is also provided along with numerical simulations to support our approach. We used the Lyapunov theory to confirm the stability, in finite-time, of the obtained closed-loop system. Furthermore, we tested this controller in a scenario where the reference signal was a time-varying function applied to a micromachine with friction. Numerical experiments showed acceptable performance in mitigating the effects of friction in the mechanism. In the simulations, the well-known LuGre friction model was invoked.