Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Bücher
Zeitschriften
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
ATZ-Fachkongress

Chassis.tech plus 2024


4 Kongresse in einer Veranstaltung

Treffen Sie in München die Fachleute von Chassis, Lenkung, Bremsen sowie Reifen/Räder.
Erweiterte Suche
Anmelden
nach oben
Microsystem Technologies
Erschienen in: Microsystem Technologies 10/2019

13.01.2019 | Technical Paper

Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system

verfasst von: Amelia Ahmad Khalili, Zaharuddin Mohamed, Mohd Ariffanan Mohd Basri

Erschienen in: Microsystem Technologies | Ausgabe 10/2019

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

In this paper a robust backstepping sliding mode controller is developed for tracking control of 2-DOF piezo-actuated micromanipulation system. The control approach is established to obtain high precision tracking in the existence of hysteresis nonlinearity, model uncertainties and external disturbances which treated as a lumped uncertainty. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by a discontinuous switching function, a simple fuzzy system is used. The asymptotical stability of the system can be guaranteed since the control law is derived based on Lyapunov theorem. The effectiveness and feasibility of the suggested approach are tested for tracking of a micrometer-level reference trajectories. From the results, it is shown that the developed control system not only achieves satisfactory control performance, but also eliminates the chattering phenomena in the control effort.
Vorheriger Artikel Thermo-mechanical interactions in a magneto-thermoelastic solid with microtemperatures and diffusion
Nächster Artikel Investigations on the flow behaviour in microfluidic device due to surface roughness: a computational fluid dynamics simulation

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

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!

Jetzt informieren

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!

Jetzt informieren
Literatur
Acar C, Murakami T (2008). Underactuated two-wheeled mobile manipulator control using nonlinear backstepping method. In: proceedings of 34th annual conference of the IEEE industrial electronics society. pp 1680–1685
Adriaens HJMTA, de Koning WL, Banning R (1999). Feedback-linearization control of a piezo-actuated positioning mechanism. In: proceedings of european control conference (ECC). pp 1982–1987
Ahmad I, Abdurraqeeb AM (2017) H∞ control design with feed-forward compensator for hysteresis compensation in piezoelectric actuators. Automatika 57(3):691–702CrossRef
Astrom KJ, Wittenmark B (1995) Adaptive Control. Addison-Wesley, New YorkMATH
Badr BM, Ali WG (2010) Nano positioning fuzzy control for piezoelectric actuators. Int J Eng Technol 10:70–74
Bai R, Tong S, Karimi HR (2013) Modeling and backstepping control of the electronic throttle system. Math Probl Eng 87:1–6MathSciNetMATH
Čas J, Škorc G, Šafarič R (2010) Neural network position control of XY piezo actuator stage by visual feedback. Neural Comput Appl 19(7):1043–1055CrossRef
de Oliveira AS, da Costa Ferreira D, Chavarette FR, Peruzzi NJ, Marques VC (2015) Piezoelectric optimum placement via LQR controller. Adv Mater Res 1077:166–171CrossRef
Ding B, Li Y, Xiao X, Tang Y (2016) Optimized PID tracking control for piezoelectric actuators based on the Bouc–Wen model. In: proceedings of IEEE international conference on robotics and biomimetics (ROBIO). pp 1576–1581
Elahinia M, Chen Y, Qiu J, Palacios J, Smith EC (2012) Tracking control of piezoelectric stack actuator using modified Prandtl-Ishlinskii model. J Intell Mater Syst Struct 24(6):753–760
Huang YC, Lin DY (2004) Ultra-fine tracking control on piezoelectric actuated motion stage using piezoelectric hysteretic model. Asian J Control 6(2):208–216CrossRef
Ikhouane F, Rodellar J (2005) On the hysteretic Bouc–Wen model. Nonlinear Dyn 42(1):79–95MATHCrossRef
Krstic M, Kanellakopoulos I, Kokotovic P (1995) Nonlinear and adaptive control design, vol 222. Wiley, New YorkMATH
Lee S-H, Royston TJ, Friedman G (2000) Modeling and compensation of hysteresis in piezoceramic transducers for vibration control. J Intell Mater Syst Struct 11(10):781–790CrossRef
Lee G, You K, Kang T, Yoon KJ, Lee JO, Park JK (2010) Modeling and design of H-Infinity controller for piezoelectric actuator LIPCA. J Bionic Eng 7(2):168–174CrossRef
Li Y, Xu Q (2010) Adaptive sliding mode control with perturbation estimation and PID sliding surface for motion tracking of a piezo-driven micromanipulator. IEEE Trans Control Syst Technol 18(4):798–810CrossRef
Li P, Yan F, Ge C, Zhang M (2012) Ultra-precise tracking control of piezoelectric actuators via a fuzzy hysteresis model. Rev Sci Instrum 83(8):085114CrossRef
Liang Y, Liu Y (2012) Backstepping control for nonlinear systems of offshore platforms. J Theor Appl Inf Technol 45(2):468–471MathSciNet
Lin C-J, Yang S-R (2006) Precise positioning of piezo-actuated stages using hysteresis-observer based control. Mechatronics 16(7):417–426CrossRef
Lin J, Chiang H, Lin C (2011) Tuning PID control parameters for micro-piezo-stage by using grey relational analysis. Expert Syst Appl 38(11):13924–13932
Liu V-T (2012) Self-tuning Neuro-PID controller for piezoelectric actuator. Adv Sci Lett 14(1):141–145CrossRef
Liu Y, Shan J, Gabbert U, Qi N (2013) Hysteresis and creep modeling and compensation for a piezoelectric actuator using a fractional-order Maxwell resistive capacitor approach. Smart Mater Struct 22(11):115020CrossRef
Low T, Guo W (1995) Modeling of a three-layer piezoelectric bimorph beam with hysteresis. J Microelectromech Syst 4(4):230–237CrossRef
Onawola OO, Sinha S (2011) A feedback linearization approach for panel flutter suppression with piezoelectric actuation. J Comput Nonlinear Dyn 6(3):031006CrossRef
Payam AF, Fathipour M, Yazdanpanah MJ (2009). A backstepping controller for piezoelectric actuators with hysteresis in nanopositioning. In: proceedings of 4th IEEE international conference on nano/micro engineered and molecular systems (NEMS). pp 711–716
Rakotondrabe M (2011) Bouc–Wen modeling and inverse multiplicative structure to compensate hysteresis nonlinearity in piezoelectric actuators. IEEE Trans Autom Sci Eng 8(2):428–431CrossRef
Ranaweera KMIU, Senevirathne KAC, Weldeab MK, Karimi HR (2013) Backstepping control design for a semiactive vehicle suspension system equipped with magnetorheological rotary brake. Int J Control Theory Appl 6(1):15–27
Shabaninia F, Mavaddat M (2014) Identification and control for a single-axis PZT nanopositioner stage. Univ J Mech Eng 2(4):132–137CrossRef
Shen JC, Jywe WY, Liu CH, Jian YT, Yang J (2008) Sliding-mode control of a three-degrees-of-freedom nanopositioner. Asian J Control 10(3):267–276MathSciNetCrossRef
Stakvik JÅ, Ragazzon MR, Eielsen AA, Gravdahl JT (2015) On implementation of the Preisach model: identification and inversion for hysteresis compensation. Model Identif Control 36(3):133–142CrossRef
Svečko R, Kusić D (2015) Feedforward neural network position control of a piezoelectric actuator based on a BAT search algorithm. Expert Syst Appl 42(13):5416–5423CrossRef
Thomas ME, Gopinath A (2016) LQR Control of Piezoelectric Actuators. Int Res J Eng Technol 3(7):96–102
Toader A, Ursu I (2007) Backstepping control synthesis for hydrostatic type flight controls electrohydraulic actuators. Ann Univ Craiova Ser Autom Comput Electron Mechatron 4(31):1
Wai R-J (2007) Fuzzy sliding-mode control using adaptive tuning technique. IEEE Trans Ind Electron 54(1):586–594CrossRef
Witkowska A, Śmierzchalski R (2007) The use of backstepping method to ship course controller. TransNav Int J Mar Navig Saf Sea Transp 1(3):313–317MATH
Xiao S, Li Y (2014) Dynamic compensation and H∞ control for piezoelectric actuators based on the inverse Bouc–Wen model. Robot Comput Integr Manuf 30(1):47–54MathSciNetCrossRef
Xie WF, Fu J, Yao H, Su CY (2009) Neural network-based adaptive control of piezoelectric actuators with unknown hysteresis. Int J Adapt Control Signal Process 23(1):30–54MathSciNetMATHCrossRef
Xu Q (2014) Digital sliding-mode control of piezoelectric micropositioning system based on input–output model. IEEE Trans Ind Electron 61(10):5517–5526CrossRef
Yang L, Li Z, Sun G (2014) Nano-positioning with sliding mode based control for piezoelectric actuators. In: Proceedings of International Conference on Mechatronics and Control (ICMC). pp 802–807
Youssef AMM (2013) Optimized PID tracking controller for piezoelectric hysteretic actuator model. World J Model Simul 9(3):223–234
Yu Y, Naganathan N, Dukkipati R (2002) Preisach modeling of hysteresis for piezoceramic actuator system. Mech Mach Theory 37(1):49–59MathSciNetMATHCrossRef
Zhou M, Wang J (2013) Research on hysteresis of piezoceramic actuator based on the Duhem model. Sci World J 2013:1–6
Metadaten
Titel
Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system
verfasst von
Amelia Ahmad Khalili
Zaharuddin Mohamed
Mohd Ariffanan Mohd Basri
Publikationsdatum
13.01.2019
Verlag
Springer Berlin Heidelberg
Erschienen in
Microsystem Technologies / Ausgabe 10/2019
Print ISSN: 0946-7076
Elektronische ISSN: 1432-1858
DOI
https://doi.org/10.1007/s00542-019-04294-6

Weitere Artikel der Ausgabe 10/2019

Microsystem Technologies 10/2019 Zur Ausgabe

Technical Paper

Sensitivity enhancement and temperature compatibility of graphene piezoresistive MEMS pressure sensor

Technical Paper

Design and performance evaluation of a novel stick–slip piezoelectric linear actuator with a centrosymmetric-type flexure hinge mechanism

Technical Paper

High-G drop effect on the creep-fatigue failure of SAC solder joints in BGA packages

Technical Paper

Research of a novel stereoscopic symmetrical quadruple hair gyroscope

Technical Paper

Screwed micro fluidic connections fabricated by ultrasonic hot embossing and welding

Technical Paper

A large thrust trans-scale precision positioning stage based on the inertial stick–slip driving