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

Mohd Hanif Mohd Ramli, Xinkai Chen

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationIRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors
Subtitle of host publicationEmpowering Robots with Smart Sensors
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages184-189
Number of pages6
ISBN (Electronic)9781509060849
DOIs
Publication statusPublished - 2017 Oct 11
Event4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016 - Tokyo, Japan
Duration: 2016 Dec 172016 Dec 20

Other

Other4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016
CountryJapan
CityTokyo
Period16/12/1716/12/20

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)

Fingerprint Dive into the research topics of 'Nonlinear discrete prescribed performance control for micro-positioning of smart actuators'. Together they form a unique fingerprint.

  • Cite this

    Ramli, M. H. M., & 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 (pp. 184-189). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRIS.2016.8066088