Sliding-mode tracking control of piezo-actuated nanopositioners
Sliding-mode tracking control of piezo-actuated nanopositioners
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DOI：
10.1109/acc.2012.6315559
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发表时间：
2012-06
期刊：
影响因子：
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通讯作者：
M. Edardar;Xiaobo Tan;H. Khalil
中科院分区：
文献类型：
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作者：
M. Edardar;Xiaobo Tan;H. Khalil
在本文中，我们提出了一个强大的控制方案，压电驱动纳米定位器跟踪任意参考。定位器被表示为一个线性系统之前的滞后，这是建模与普朗特-Ishlinskii（PI）运营商。为了减小迟滞效应，采用近似算子作为前馈补偿器。然后使用滑模控制器来减轻逆误差的影响。在压电驱动系统的滑模控制的现有工作中，控制的切换分量的系数通常通过试错法来选择。与此相反，在这项工作中，我们分析得出的反演误差的上限使用的滞后模型。这个界限是状态和时间的函数，比常数界限保守得多。闭环系统的稳定性建立了Lyapnuov分析。仿真和实验结果证明了该方法的有效性。
In this paper we propose a robust control scheme for a piezo-actuated nanopositioner to track arbitrary references. The positioner is represented as a linear system preceded by hysteresis, which is modeled with a Prandtl-Ishlinskii (PI) operator. In order to reduce the hysteresis effect, an approximate operator is used as a feedforward compensator. A sliding mode controller is then used to mitigate the effect of inversion error. In existing work on sliding mode control of piezo-actuated systems, the coefficient of the switching component of the control is typically chosen by trial and error. In contrast, in this work we analytically derive an upper bound on the inversion error using the hysteresis model. This bound is a function of the state and time, which is much less conservative than constant bounds. The stability of the closed-loop system is established by Lyapnuov analysis. Simulation and experimental results are presented to demonstrate the effectiveness of the proposed method.