An Integrator-Backstepping-Based Dynamic Surface Control Method for a Two-Axis Piezoelectric Micropositioning Stage
ABSTRACT In this paper, an integrator-backstepping-based dynamic surface control method for a two-axis piezoelectric micropositioning stage is proposed. First, according to the dynamics of motion of a mechanical mass-spring system, mathematical equations that contain a linear viscous friction, a varied elasticity with cross-coupling effect due to mechanical bending, and dynamics of a hysteresis variable is proposed to describe the motion dynamics of the two-axis piezopositioning stage. Next, from the equations, a state-space model in which the applied voltage to the stage is defined as an output of an integrator is derived. On the basis of this state-space model, the integrator-backstepping-based dynamic surface control is proposed. By using the proposed control method to trajectory tracking of the two-axis piezopositioning stage, the dynamic performance, robustness to parameter variations, and trajectory tracking error can be improved. Experimental results of the time responses from the computer-controlled two-axis piezopositioning stage illustrate the validity of the proposed control method for practical applications in trajectory tracking.
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ABSTRACT: This paper presents a new robust adaptive control method for a class of nonlinear systems subject to uncertainties. The proposed approach is based on an adaptive dynamic surface control, where the system uncertainties are approximately modeled by interval type-2 fuzzy neural networks. In this paper, the robust stability of the closed-loop system is guaranteed by the Lyapunov theorem, and all error signals are shown to be uniformly ultimately bounded. In addition to simulations, the proposed method is applied to a real ball-and-beam system for performance evaluations. To highlight the system robustness, different initial settings of ball-and-beam parameters are considered. Simulation and experimental results indicate that the proposed control scheme has superior responses, compared to conventional dynamic surface control.IEEE transactions on cybernetics. 04/2013;
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ABSTRACT: The piezo-actuated stage is composed of a piezoelectric actuator (PEA) and a positioning mechanism (PM). Due to the existence of hysteretic nonlinearity in the PEA and the friction behavior in the PM, the accurate position control of the piezo-actuated stage is a challenging task. This paper discusses the continuous-time adaptive control for the piezo-actuated stage, where the hysteresis is described by Prandtl-Ishlinskii model. The proposed control law ensures the zero output tracking of the controlled stage. Experimental results show the effectiveness of the proposed method.Mechatronics and Automation (ICMA), 2012 International Conference on; 01/2012
Conference Paper: High precision control for piezo-actuated XY-table[Show abstract] [Hide abstract]
ABSTRACT: The piezo-actuated 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.Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on; 01/2012