An Adaptive Control Method for Ros-Drill Cellular Microinjector with Low-Resolution Encoder

Table 1

Update process of 𝐾_𝑑 for Figure 7.

𝑘	𝐾𝑑(𝑘)	𝑒(𝑘)	𝑒ref	𝐾𝑑-ref	Δ𝐾(𝑘+1)
0	0.0036	1.9Δ	1.9Δ	0.0036	𝐶⋅𝑒(0)
1	0.0080	−2.66Δ	1.9Δ	0.0036	Δ𝐾𝑑(1)/2
2	0.0058	0	0	0.0058	0