TY - GEN
T1 - Nonlinear discrete prescribed performance control for micro-positioning of smart actuators
AU - Ramli, Mohd Hanif Mohd
AU - Chen, Xinkai
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/10/11
Y1 - 2017/10/11
N2 - 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.
AB - 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.
KW - discrete control
KW - feedback control
KW - hysteresis
KW - nonlinear system
KW - piezoelectric actuator
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U2 - 10.1109/IRIS.2016.8066088
DO - 10.1109/IRIS.2016.8066088
M3 - Conference contribution
AN - SCOPUS:85050210085
T3 - IRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors: Empowering Robots with Smart Sensors
SP - 184
EP - 189
BT - IRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016
Y2 - 17 December 2016 through 20 December 2016
ER -