Adaptive Sliding Mode Control With Perturbation Estimation and PID Sliding Surface for Motion Tracking of a Piezo-Driven Micromanipulator
Adaptive Sliding Mode Control With Perturbation Estimation and PID Sliding Surface for Motion Tracking of a Piezo-Driven Micromanipulator
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DOI：
10.1109/tcst.2009.2028878
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发表时间：
2010-07
影响因子：
4.8
通讯作者：
Yangmin Li;Qingsong Xu
中科院分区：
文献类型：
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作者：
Yangmin Li;Qingsong Xu
本文提出了一种改进的扰动估计滑模控制（SMCPE），具有 PID 型滑动表面和自适应增益，用于压电驱动微操作器系统的运动跟踪控制。所提出的控制器的优点之一在于其实现只需要在线估计扰动和控制增益，而不需要获取系统不确定性界限的知识。通过粒子群优化(PSO)方法建立并辨识了具有Bouc-Wen滞环的系统动力学模型，并基于Lyapunov稳定性分析设计了控制器。采用高增益观测器从唯一可测量的位置信息估计完整状态。实验结果表明，所提出的控制器在设定点调节和运动跟踪控制方面的性能均优于传统的 SMCPE。此外，微操纵器实现了亚微米精度的跟踪和轮廓绘制，并具有低幅度补偿的主导磁滞，这也验证了所提出的控制器在微/纳米尺度操纵领域的可行性。
This paper proposes an improved sliding mode control with perturbation estimation (SMCPE) featuring a PID-type sliding surface and adaptive gains for the motion tracking control of a micromanipulator system with piezoelectric actuation. One advantage of the proposed controller lies in that its implementation only requires the online estimation of perturbation and control gains without acquiring the knowledge of bounds on system uncertainties. The dynamic model of the system with Bouc-Wen hysteresis is established and identified through particle swarm optimization (PSO) approach, and the controller is designed based on Lyapunov stability analysis. A high-gain observer is adopted to estimate the full state from the only measurable position information. Experimental results demonstrate that the performance of proposed controller is superior to that of conventional SMCPE in both set-point regulation and motion tracking control. Moreover, a submicron accuracy tracking and contouring is achieved by the micromanipulator with dominant hysteresis compensated for a low magnitude level, which validates the feasibility of the proposed controller in the field of micro/nano scale manipulation as well.