Robust antiwindup compensation for high-precision tracking of a piezoelectric nanostage
IEEE Transactions on Industrial Electronics
Institute of Electrical and Electronics Engineers Inc.
6460 - 6470
Item Usage Stats
MetadataShow full item record
Ultrahigh-precision tracking in nanomanipulations poses major challenges for mechanical design as well as servo control, due to the general confliction between the precision requirement and large stroke tracking. The situation is further complicated by input saturation, which is almost inevitable for microactuators. This paper presents a novel control architecture combining a parallel internal-model-based tracking design and a robust antiwindup control structure, such that asymptotic tracking can be achieved for nanoservo systems in the presence of saturation nonlinearity and model uncertainties. For the augmented system with internal-model dynamics, an I/O-based equivalent representation from control (free of saturation) to system output is derived by incorporating the dead-zone nonlinearity, saturation compensation blocks, as well internal-model units. The robustness condition on the saturation compensator is also derived based on the sector bound criterion and an H∞-optimal design is developed accordingly. The proposed robust antiwindup tracking control architecture is deployed on a customize-designed nanostage driven by a piezoelectric (PZT) actuator, where numerical simulations and real-time experiments demonstrate excellent tracking performance and saturation compensation capability, achieving tracking precision error less than 0.23%.
Closed loop control systems
High precision tracking
Internal model designs
Robustness (control systems)
Published Version (Please cite this version)http://dx.doi.org/10.1109/TIE.2016.2569060
Showing items related by title, author, creator and subject.
Ünyelioğlu, Konur Alp; Özgüler, Arif Bülent (Taylor & Francis, 1992)Electrical and The decentralized stabilization problem of multivariable finite-dimensional systems is considered in a fractional set-up. A new synthesis procedure for decentralized stabilizing compensators is proposed. The ...
A particle swarm optimization based SAR motion compensation algorithm for target image reconstruction Uğur, Salih; Arıkan, Orhan (IEEE, 2010)A new SAR motion compensation algorithm is proposed for robust reconstruction of target images even under large deviations of the platform from intended flight path. Phase error due to flight path deviations is estimated ...
Bereketli, A.; Tümçakır, M.; Yazgı, İ.; Yeni, B.; Köseoğlu, M.; Duman, Tolga M. (IEEE, 2017)Autonomous underwater vehicle (AUV) networks play a crucial role in tactical, commercial, and scientific applications, where reliable and robust communication protocols are needed due to the challenging characteristics of ...