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

Mohd Hanif Mohd Ramli, Xinkai Chen

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルIRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors
ホスト出版物のサブタイトルEmpowering Robots with Smart Sensors
出版社Institute of Electrical and Electronics Engineers Inc.
ページ184-189
ページ数6
ISBN(電子版)9781509060849
DOI
出版ステータスPublished - 2017 10 11
イベント4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016 - Tokyo, Japan
継続期間: 2016 12 172016 12 20

出版物シリーズ

名前IRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors: Empowering Robots with Smart Sensors

Other

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 器械工学
  • 社会科学(その他)

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