Advanced high precision control for XY-table

研究成果: Conference contribution

抄録

The XY-table is composed of two piezo electric actuators (PEA) and a positioning mechanism (PM). Due to existence of hysteretic nonlinearity in the PEA and the friction in the PM, the high precision control for the XY-table is a challenging task. This paper discusses the high precision adaptive control for the XY-table, where the hysteresis is described by Prandtl-Ishlinskii model. The proposed control law ensures the global stability of the controlled stage, and the position error can be controlled to approach to zero asymptotically. Experimental results show the effectiveness of the proposed method.

本文言語English
ホスト出版物のタイトルIntelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Proceedings
ページ11-21
ページ数11
PART 1
DOI
出版ステータスPublished - 2012 12 1
イベント5th International Conference on Intelligent Robotics and Applications, ICIRA 2012 - Montreal, QC, Canada
継続期間: 2012 10 32012 10 5

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
番号PART 1
7506 LNAI
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Conference

Conference5th International Conference on Intelligent Robotics and Applications, ICIRA 2012
CountryCanada
CityMontreal, QC
Period12/10/312/10/5

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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