Browsing by Author "Lee, Ti-Chung"

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Fast regulation of the rolling sphere: A motion planning approach
(2007)
Lee, Ti-Chung
;
Lin, Shir-Kuan
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper presents a simple stabilizing control scheme for the rolling sphere. A tracking control problem with respect to a "virtual moving trajectory" is first solved. Then, it is used to achieve practical stability for the regulation problem. The derived controllers have a simple form and can guarantee fast convergence. To verify the effectiveness of the proposed results, an interesting simulation result is presented.
Friction Compensation of a Mini Voice Coil Motor by Sliding Mode Control
(2009)
Tsai, Ching-Lung
;
Lee, Ti-Chung
;
Lin, Shir-Kuan
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper presents a sliding mode controller to compensate the friction of mini voice-coil motor (VCM), embedded with guide pins, for position control in compact camera module (CCM) application. In the VCM, actuator full stroke is only 0.35mm or less, nonlinear friction force falls into mismatched condition and um-level resolution is required. With proposed controller, arbitrarily small steady state error can be approached by pole placement tithe sliding mode state equation. The performance is firstly simulated with a physical VCM model. The experimental result is then presented to demonstrate the proposed controller is able to avoid stick-slip oscillation that usually yields when using classic controller, such as PI controller.