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 | |
| 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 |
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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)
Cite this
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
}
TY - GEN
T1 - Nonlinear discrete prescribed performance control for micro-positioning of smart actuators
AU - Ramli, Mohd Hanif Mohd
AU - Chen, Xinkai
PY - 2017/10/11
Y1 - 2017/10/11
N2 - 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.
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.
KW - discrete control
KW - feedback control
KW - hysteresis
KW - nonlinear system
KW - piezoelectric actuator
UR - http://www.scopus.com/inward/record.url?scp=85050210085&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050210085&partnerID=8YFLogxK
U2 - 10.1109/IRIS.2016.8066088
DO - 10.1109/IRIS.2016.8066088
M3 - Conference contribution
SP - 184
EP - 189
BT - IRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors
PB - Institute of Electrical and Electronics Engineers Inc.
ER -