Robust Antiwindup Compensation for High-Precision Tracking of a Piezoelectric Nanostage
نویسندگان
چکیده
منابع مشابه
Adaptive Robust Precision Control of Piezoelectric Positioning Stages
Positioning stages using piezoelectric stack actuator (PEA) have very high theoretical bandwidth and resolution. However, as the total length of travel increases, nonlinear dynamics due to inherent hysteresis starts to dominate. In this paper, we separate the fast and slow dynamics of the total displacement and propose a simple first-order model. By approximating the hysteresis mapping with sim...
متن کاملRobust Compensator Synthesis for Antiwindup Design with Coprime Factor Uncertainties
This paper studies the antiwindup synthesis problems for plants with coprime factor uncertainties. The proposed technique utilizes an equivalent framework of compensated systems to investigate the robustness of the antiwindup compensators. The penalty operators of the input saturation are studied originally in general cases. Robustness criteria are proposed for an antiwindup compensated system ...
متن کاملCompensation for the Piezoelectric Sensor
Piezoelectric force sensors are used in more and more industries and areas for the monitoring of the production process or testing products’ performance. In some high-precision testing fields, the dynamic measurement performances of the test system itself have to be examined. Based on the dynamic response mathematical model of test system itself, this paper studies the dynamic measuring acceler...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملA Novel Robust Adaptive Trajectory Tracking in Robot Manipulators
In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Industrial Electronics
سال: 2016
ISSN: 0278-0046,1557-9948
DOI: 10.1109/tie.2016.2569060