Nonlinear discrete prescribed performance control for micro-positioning of smart actuators

Mohd Hanif Mohd Ramli; Xinkai Chen

doi:10.1109/IRIS.2016.8066088

Nonlinear discrete prescribed performance control for micro-positioning of smart actuators

Mohd Hanif Mohd Ramli, Xinkai Chen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Most smart material based actuators (smart actuators) are known for their prominent characteristics of a high resolution of positioning, high bandwidth, and the ease of integration in miniaturized systems. However, their applications are restricted by the inherent hysteresis nonlinearity. This paper presents a new nonlinear discrete control design to improve hysteresis compensation in the smart actuators particularly in the piezoelectric based actuators. The control development takes the prescribed performance control framework as the basis and fuses it into a new modified Bouc-Wen (MBW) model. Through the theoretical analysis, it is shown that the designed control law guarantees the stability of the closed-loop system. Finally, the efficacy of the control framework is verified via a real case application where a linear piezoelectric actuated positioning system (PEA stage) is used as the testbed. The experimental results confirm that the formulated control scheme has the capacity for improving the output-tracking performance in the PEA stage.

Original language	English
Title of host publication	IRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors
Subtitle of host publication	Empowering Robots with Smart Sensors
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	184-189
Number of pages	6
ISBN (Electronic)	9781509060849
DOIs	https://doi.org/10.1109/IRIS.2016.8066088
Publication status	Published - 2017 Oct 11
Event	4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016 - Tokyo, Japan Duration: 2016 Dec 17 → 2016 Dec 20

Other

Other	4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016
Country	Japan
City	Tokyo
Period	16/12/17 → 16/12/20

Keywords

discrete control
feedback control
hysteresis
nonlinear system
piezoelectric actuator

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Control and Optimization
Instrumentation
Social Sciences (miscellaneous)

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Nonlinear discrete prescribed performance control for micro-positioning of smart actuators. / Ramli, Mohd Hanif Mohd; Chen, Xinkai.

IRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors: Empowering Robots with Smart Sensors. Institute of Electrical and Electronics Engineers Inc., 2017. p. 184-189.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ramli, MHM & Chen, X 2017, Nonlinear discrete prescribed performance control for micro-positioning of smart actuators. in IRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors: Empowering Robots with Smart Sensors. Institute of Electrical and Electronics Engineers Inc., pp. 184-189, 4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016, Tokyo, Japan, 16/12/17. https://doi.org/10.1109/IRIS.2016.8066088

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AB - Most smart material based actuators (smart actuators) are known for their prominent characteristics of a high resolution of positioning, high bandwidth, and the ease of integration in miniaturized systems. However, their applications are restricted by the inherent hysteresis nonlinearity. This paper presents a new nonlinear discrete control design to improve hysteresis compensation in the smart actuators particularly in the piezoelectric based actuators. The control development takes the prescribed performance control framework as the basis and fuses it into a new modified Bouc-Wen (MBW) model. Through the theoretical analysis, it is shown that the designed control law guarantees the stability of the closed-loop system. Finally, the efficacy of the control framework is verified via a real case application where a linear piezoelectric actuated positioning system (PEA stage) is used as the testbed. The experimental results confirm that the formulated control scheme has the capacity for improving the output-tracking performance in the PEA stage.

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Nonlinear discrete prescribed performance control for micro-positioning of smart actuators

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