Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Introduction: Smart Materials as Essential Base for Actuators in Micro/Nanopositioning Read chapter Read first chapter

2013 | OriginalPaper | Chapter

7. Kalman Filtering and State-Feedback Control of a Nonlinear Piezoelectric Cantilevered Actuator

Authors : Micky Rakotondrabe, Juan-Antonio Escareno, Didace Habineza, Sergio Lescano

Published in: Smart Materials-Based Actuators at the Micro/Nano-Scale

Publisher: Springer New York

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

This chapter deals with the state estimation with noise rejection in a piezoelectric cantilevered actuator and its state-feedback control. The noises which come from the sensor used, strain gage, are important and should be filtered. For that, we employ the classical Kalman filtering for their rejection and for the state estimation and we apply afterwards a state-feedback control with integral action to improve the general performances of the actuator. However, as the actuator exhibits hysteresis nonlinearity, we propose first its linearization thanks to a feedforward control before application of the above filtering and feedback control. The experimental results confirm the efficiency of the approach and demonstrate the interest of the method for precise positioning such as in micropositioning applications.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now
previous chapter Interval Modeling and Robust Feedback Control of Piezoelectric-Based Microactuators
next chapter Intelligent Hysteresis Modeling and Control of Piezoelectric Actuators
Footnotes
1
Identification Matlab Toolbox.
 
Literature
1.
M. Rakotondrabe, C. Clévy, P. Lutz, Modelling and robust position/force control of a piezoelectric microgripper, in IEEE—International Conference on Automation Science and Engineering (CASE), Scottsdale, AZ, USA, 2007, pp. 39–44
2.
M. Rakotondrabe, Y. Haddab, P. Lutz, Quadrilateral modelling and robust control of a nonlinear piezoelectric cantilever. IEEE Trans. Contr. Syst. Technol. (T-CST) 17(3), 528–539 (2009)
3.
M. Rakotondrabe, K. Rabenorosoa, J. Agnus, N. Chaillet, Robust feedforward-feedback control of a nonlinear and oscillating 2-dof piezocantilever. IEEE Trans. Autom. Sci. Eng. (T-ASE) 8(3), 506–519 (2011)
4.
S. Khadraoui, M. Rakotondrabe, P. Lutz, Interval modeling and robust control of piezoelectric microactuators. IEEE Trans. Contr. Syst. Technol. (T-CST) 20(2), 486–494 (2012)
5.
6.
A. Sebastian, A. Gannepalli, M.V. Salapaka, A review of the systems approach to the analysis of dynamic-mode atomic force microscopy. IEEE Trans. Contr. Syst. Technol. 15(5), 952–959 (2007)CrossRef
7.
Q. Xu, Y. Li, Model predictive discrete-time sliding mode control of a nanopositioning piezostage without modeling hysteresis. IEEE Trans. Contr. Syst. Technol. 20(4), 983–994 (2012)CrossRef
8.
A. Bazaei, Y.K. Yong, S.O.R. Moheimani, A. Sebastian, Tracking of triangular references using signal transformation for control of a novel AFM scanner stage. IEEE Trans. Contr. Syst. Technol. 20(2), 453–464 (2012)CrossRef
9.
S. Devasia, E.E. Eleftheriou, R. Moheimani, A survey of control issues in nanopositioning. IEEE Trans. Contr. Syst. Technol. 15(5), 802–823 (2007)CrossRef
10.
M. Rakotondrabe, Piezoelectric Cantilevered Structures: Modeling, Control and Measurement/Estimation Aspects (Springer, Berlin, 2013)
11.
D. Croft, G. Shed, S. Devasia, Creep, hysteresis and vibration compensation for piezoactuators: atomic force microscopy application. ASME J. Dyn. Syst. Meas. Contr. 123(1), 35–43 (2001)CrossRef
12.
A. Dubra, J. Massa, C.l. Paterson, Preisach classical and nonlinear modeling of hysteresis in piezoceramic deformable mirrors. Opt. Express 13(22), 9062–9070 (2005)
13.
M. Rakotondrabe, C. Clévy, P. Lutz, Complete open loop control of hysteretic, creeped and oscillating piezoelectric cantilever. IEEE Trans. Autom. Sci. Eng. (TASE) 7(3), 440–450 (2010)
14.
W.T. Ang, P.K. Kholsa, C.N. Riviere, Feedforward controller with inverse rate-dependent model for piezoelectric actuators in trajectory-tracking applications. IEEE/ASME Trans. Mechatron. 12(2), 134–142 (2007)CrossRef
15.
B. Mokaberi, A.A.G. Requicha, Compensation of scanner creep and hysteresis for AFM nanomanipulation. IEEE Trans. ASE 5(2), 197–208 (2008)
16.
M. Al Janaideh, P. Krejci, Inverse rate-dependent Prandtl–Ishlinskii model for feedforward compensation of hysteresis in a piezomicropositioning actuator. IEEE/ASME Trans. Mechatron. (2012). doi:10.1109/TMECH.2012.2205265
17.
M. Rakotondrabe, Classical Prandtl–Ishlinskii modeling and inverse multiplicative structure to compensate hysteresis in piezoactuators, in ACC (American Control Conference), Montréal, Canada, June 2012, pp. 1646–1651
18.
M. Rakotondrabe, Bouc–Wen modeling and inverse multiplicative structure to compensate hysteresis nonlinearity in piezoelectric actuators. IEEE Trans. ASE 8(2), 428–431 (2011)
19.
J.J. Dosch, D.J. Inman, E. Garcia, A self-sensing piezoelectric actuator for collocated control. J. Intell. Mater. Syst. Struct. 3(1), 166–185 (1992)CrossRef
20.
W.W. Law, W.-H. Liao, J. Huang, Vibration control of structures with self-sensing piezoelectric actuators incorporating adaptive mechanisms. Smart Mater. Struct. 12, 720–730 (2003)CrossRef
21.
C.K. Pang, G. Guo, B.M. Chen, T.H. Lee, Self-sensing actuation for nanopositioning and active-mode damping in dual-stage HDDs. IEEE/ASME Trans. Mechatron. (T-mech) 11(3), 328–338 (2006)
22.
S.O.R. Moheimani, Y.K. Yong, Simultaneous sensing and actuation with a piezoelectric tube scanner. Rev. Sci. Instrum. 79, 073702 (2008)CrossRef
23.
S.O.R. Moheimani, Invited review article: accurate and fast nanopositioning with piezoelectric tube scanners: emerging trends and future challenges. Rev. Sci. Instrum. 79, 071101 (2008)CrossRef
24.
A. Ivan, M. Rakotondrabe, P. Lutz, N. Chaillet, Quasi-static displacement self-sensing method for cantilevered piezoelectric actuators. Rev. Sci. Instrum. (RSI) 80(6), 065102 (2009)
25.
A. Ivan, M. Rakotondrabe, P. Lutz, N. Chaillet, Current integration force and displacement self-sensing method for cantilevered piezoelectric actuators. Rev. Sci. Instrum. (RSI) 80(12), 2126103 (2009)
26.
M. Rakotondrabe, I.A. Ivan, S. Khadraoui, C. Clevy, P. Lutz, N. Chaillet, Dynamic displacement self-sensing and robust control of canxtilevered piezoelectric actuators dedicated to microassembly tasks, in IEEE/ASME—AIM (International Conference on Intelligent Materials), Montréal, Canada, July 2010, pp. 557–562
27.
M.A. Krasnosel’skii, A.V. Pokrovskii, Systems with Hysteresis (Springer, Berlin, 1989)
28.
K. Kuhnen, H. Janocha, Complex hysteresis model of a broad class of hysteretic nonlinearities, in Proceedings of 8th International Conference on New Actuators, Bremen, pp. 688–691 (2002)
29.
R.G. Brown, P.Y.C. Hwang, Introduction to Random Signals and Applied Kalman Filtering, 3rd edn. (Wiley, New York, 1997)MATH
Metadata
Title
Kalman Filtering and State-Feedback Control of a Nonlinear Piezoelectric Cantilevered Actuator
Authors
Micky Rakotondrabe
Juan-Antonio Escareno
Didace Habineza
Sergio Lescano
Copyright Year
2013
Publisher
Springer New York
Book
Smart Materials-Based Actuators at the Micro/Nano-Scale

Print ISBN: 978-1-4614-6683-3

Electronic ISBN: 978-1-4614-6684-0

Copyright Year: 2013

DOI
https://doi.org/10.1007/978-1-4614-6684-0_7