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2016 | Buch

Introduction Kapitel lesen Erstes Kapitel lesen

Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems

verfasst von: Qingsong Xu, Kok Kiong Tan

Verlag: Springer International Publishing

Buchreihe : Advances in Industrial Control

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik"

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Über dieses Buch

This book explores emerging methods and algorithms that enable precise control of micro-/nano-positioning systems. The text describes three control strategies: hysteresis-model-based feedforward control and hysteresis-model-free feedback control based on and free from state observation. Each paradigm receives dedicated attention within a particular part of the text.

Readers are shown how to design, validate and apply a variety of new control approaches in micromanipulation: hysteresis modelling, discrete-time sliding-mode control and model-reference adaptive control. Experimental results are provided throughout and build up to a detailed treatment of practical applications in the fourth part of the book. The applications focus on control of piezoelectric grippers.

Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems will assist academic researchers and practising control and mechatronics engineers interested in suppressing sources of nonlinearity such as hysteresis and drift when combining position and force control of precision systems with piezoelectric actuation.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Introduction
Abstract
This chapter provides an introduction to the piezoelectric micro-/nano-positioning system and the concerned control problems.
Qingsong Xu, Kok Kiong Tan

Hysteresis-Model-Based Feedforward Control

Frontmatter
Chapter 2. Feedforward Control Based on Inverse Hysteresis Models
Abstract
This chapter presents the rate-dependent hysteresis compensation of a piezoelectric nanopositioning stage using the feedforward control based on an inverse hysteresis model. Three different controllers are realized and compared, which employ Bouc–Wen model, modified Prandtl–Ishlinskii (MPI) model, and least squares support vector machines (LSSVM)-based intelligent model, respectively. Experimental studies demonstrate the superiority of LSSVM model in hysteresis modeling and compensation tasks.
Qingsong Xu, Kok Kiong Tan
Chapter 3. Feedforward Control Without Modeling Inverse Hysteresis
Abstract
This chapter presents an approach of hysteresis identification and compensation of piezoelectric actuators by resorting to an intelligent hysteresis model. In particular, a least squares support vector machine (LSSVM)-based hysteresis model is developed and used for both purposes of hysteresis identification and hysteresis compensation. By this way, the inverse hysteresis is not needed in the feedforward hysteresis compensator because the hysteresis model is directly used. The effectiveness of the presented idea is validated by a series of experimental studies on a piezoactuated micro-/nano-positioning system.
Qingsong Xu, Kok Kiong Tan

Hysteresis-Model-Free, State-Observer-Based Feedback Control

Frontmatter
Chapter 4. Model Predictive Discrete-Time Sliding-Mode Control
Abstract
This chapter presents a scheme of model predictive discrete-time sliding mode control (MPDTSMC) with proportional-integral (PI) sliding function and state observer for the motion tracking control of a nanopositioning system driven by piezoelectric actuators.
Qingsong Xu, Kok Kiong Tan
Chapter 5. Model Predictive Output Integral Discrete-Time Sliding-Mode Control
Abstract
This chapter presents a control scheme termed model predictive output integral discrete-time sliding-mode control (MPOIDSMC) to achieve a precise positioning for a piezoelectric actuation stage.
Qingsong Xu, Kok Kiong Tan

Hysteresis-Model-Free, State-Observer-Free Feedback Control

Frontmatter
Chapter 6. Digital Sliding-Mode Control of Second-Order Systems
Abstract
This chapter presents the precision motion control of a piezoelectric bimorph actuator without using a hysteresis model and a state observer.
Qingsong Xu, Kok Kiong Tan
Chapter 7. Digital Sliding-Mode Control of High-Order Systems
Abstract
This chapter presents the design and implementation of an input–output-based digital sliding-mode control (IODSMC) algorithm to suppress the nonlinearity and disturbance in piezoelectric micro-/nano-positioning systems. It is applicable to precision motion tracking of a class of micro-/naon-positioning systems, which can be described by a high-order linear model preceded by disturbances. The stability of the control system is proved and its effectiveness is validated through experimental investigations on a piezo-driven micropositioning system.
Qingsong Xu, Kok Kiong Tan
Chapter 8. Digital Sliding-Mode Prediction Control
Abstract
This chapter presents the design and verification of a digital sliding-mode prediction control (DSMPC) scheme for precise position control of piezoelectric micro-/nanopositioning systems.
Qingsong Xu, Kok Kiong Tan
Chapter 9. Model-Reference Adaptive Control with Perturbation Estimation
Abstract
This chapter presents the design and testing of a model-reference adaptive control (MRAC) scheme to compensate for the hysteresis effect of a class of piezo-actuated systems, which possess a second-order nominal model.
Qingsong Xu, Kok Kiong Tan

Applications to Micromanipulation

Frontmatter
Chapter 10. Adaptive Impedance Control of Piezoelectric Microgripper
Abstract
Delicate interaction control is a crucial issue for automated microsystems dedicated to micromanipulation of microobjects. This chapter presents a framework of digital sliding mode generalized impedance control with adaptive switching gain to regulating both the position and contact force of a piezoelectric-bimorph microgripper for micromanipulation and microassembly applications. Based on a second-order dynamics model, its implementation does not require a state observer and a hysteresis/creep model. The stability of the control system is proved in theory, which ensures the tracking performance in the presence of model uncertainties and disturbances. The effectiveness of the scheme is validated by experimental investigations on the grasp operation of a microgear.
Qingsong Xu, Kok Kiong Tan
Chapter 11. Position/Force Switching Control of a Miniature Gripper
Abstract
This chapter presents the design and implementation of combined position and force control of a piezoelectrically actuated compliant gripper.
Qingsong Xu, Kok Kiong Tan
Backmatter
Metadaten
Titel
Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems
verfasst von
Qingsong Xu
Kok Kiong Tan
Copyright-Jahr
2016
Electronic ISBN
978-3-319-21623-2
Print ISBN
978-3-319-21622-5
DOI
https://doi.org/10.1007/978-3-319-21623-2

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