By Qingsong Xu, Kok Kiong Tan
This booklet explores rising equipment and algorithms that permit specific keep an eye on of micro-/nano-positioning structures. The textual content describes 3 regulate innovations: hysteresis-model-based feedforward keep an eye on and hysteresis-model-free suggestions keep watch over in line with and loose from country remark. every one paradigm gets devoted realization inside a specific a part of the text.
Readers are proven tips to layout, validate and observe various new keep an eye on methods in micromanipulation: hysteresis modelling, discrete-time sliding-mode keep watch over and model-reference adaptive keep an eye on. Experimental effects are supplied all through and building up to a close therapy of useful purposes within the fourth a part of the ebook. The functions concentrate on keep watch over of piezoelectric grippers.
Advanced regulate of Piezoelectric Micro-/Nano-Positioning Systems will help educational researchers and training keep watch over and mechatronics engineers attracted to suppressing resources of nonlinearity comparable to hysteresis and flow whilst combining place and strength keep watch over of precision platforms with piezoelectric actuation.
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Extra resources for Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems
16) −ws j j k=0 wsk j−1 k=0 wsk , j = 1, . . 17) j d ∗j = wsk (d j − dk ), j = 0, 1, . . , m. 3 Hysteresis Modeling with the LSSVM In this section, the hysteresis modeling is treated as a nonlinear regression problem, and the LSSVM is employed to model the piezoelectric hysteresis for the piezoelectric nanopositioning system. Due to the hysteresis effects, one input voltage can produce multiple values of the output displacements. Thus, one challenge lies in how to convert the one-to-many mapping into a one-to-one mapping.
One of the major challenges stems from the combination method of position and force control. , hybrid control and impedance control, which are presented below. 1 Hybrid Control The hybrid position/force control method decomposes the task space of the endeffector into position subspace and force subspace. It allows the generation of compliant motion by controlling the end-effector position in position subspace and the interaction force in force subspace, respectively. Generally, a position control law along the force constrained directions and a force control law along the position constrained directions are designed through the use of selection matrices.
Technol. 22(1), 352–359 (2014) 71. : Dahl model-based hysteresis compensation and precise positioning control of an XY parallel micromanipulator with piezoelectric actuation. J. Dyn. Syst. Meas. Control-Trans. ASME 132(4), 041011 (2010) 20 1 Introduction 72. : Micro-/nanopositioning using model predictive output integral discrete sliding mode control. IEEE Trans. Ind. Electron. 59(2), 1161–1170 (2012) 73. : Model predictive discrete-time sliding mode control of a nanopositioning piezostage without modeling hysteresis.