Simultaneous Parameter Estimation and Tracking Control without Persistence of Excitation with Application in Ink-Jet Deposition

In the field of ink-jet deposition, there is a lack of specific knowledge to detect and change drop volume to regulate fluid placement in real time. We first derive the model of line width as a function of nozzle velocity, valve duty cycle, and physical properties of fluid and surface. We then propose a novel approach for simultaneous parameter estimation and tracking control to estimate unknown parameters while regulating line width in ink-jet deposition. Stability of both the estimator and control are established using Lyapunov stability theory. Simulations and experimental results confirm the stability and performance of the approach.