Analog Robust Repetitive Control for Nanopositioning Using Bucket Brigade Devices

Dual-Stage Repetitive Control for High-Speed Nanopositioning

This paper studies an enhanced dual-stage repetitive controller (RC) for improved robustness and tracking of periodic reference trajectories in piezo-based nanopositioning systems. The dual-stage RC system consists of a signal generator designed to provide high gain at the fundamental and all the harmonic frequencies of the reference trajectory and another that offers high gain only at the odd ...

Accounting for hysteresis in repetitive control design: Nanopositioning example

This paper deals with designing a repetitive controller (RC) for tracking periodic reference trajectories for systems that exhibit hysteresis, such as piezoelectric actuators used in nanopositioning systems. Hysteresis can drastically limit the performance of an RC designed around a linear dynamics model, and thus the effect of hysteresis on the closed-loop stability of RC is analyzed and the a...

Intra-Golgi transport: escalator or bucket brigade?

1. The Problem One of the great debates of current cell biology is centered around a puzzling dilemma that lies at the very heart of the Golgi apparatus: How can the structural and functional integrity of this organelle be maintained in face of a constant flux of secretory products through its midst? This question relates to the different roles that the Golgi plays in the secretory pathway. It ...

Adaptive multi-robot bucket brigade foraging

Bucket brigade foraging improves upon homogeneous foraging by reducing spatial interference between robots, which occurs when robots are forced to work in the same space, and must spend time avoiding one another instead of carrying out useful work. Bucket brigade foraging algorithms restrict the motion of each robot to at most some fixed distance from its starting location. We reproduce the per...

Topics in Control of Nanopositioning Devices