Adaptive Sliding Mode Control With Parameter Estimation and Kalman Filter for Precision Motion Control of a Piezo-Driven Microgripper
Adaptive Sliding Mode Control With Parameter Estimation and Kalman Filter for Precision Motion Control of a Piezo-Driven Microgripper
复制标题
具有参数估计和卡尔曼滤波器的自适应滑模控制，用于压电驱动微夹具的精确运动控制
DOI：
10.1109/tcst.2016.2569567
复制
发表时间：
2017-03-01
影响因子：
4.8
通讯作者：
Xu, Qingsong
中科院分区：
文献类型：
--
作者：
Zhang, Yulong;Xu, Qingsong
压电陶瓷驱动的微夹持器广泛应用于各种高精度要求的领域。然而，由于滞后和干扰的存在，实现更高的精度具有挑战性。本文提出了一种新的方法来实现精确的运动控制，克服上述问题。报告的解决方案是通过整合三个主要组成部分，即，理想对象未知参数的在线估计、卡尔曼滤波器的位置预测和自适应滑模控制算法。所估计的参数收敛于它们的真实的值，并由李雅普诺夫准则保证。使用估计的参数，位置预测与卡尔曼滤波器。基于滑模控制策略设计了自适应律和控制律，以抑制未知和未建模部分的影响。利用李雅普诺夫定理证明了控制系统的稳定性。所提出的控制方法的有效性进行了验证，通过仿真和实验研究的原型夹持装置。
Microgrippers driven by piezoelectric actuators have been widely applied in various fields demanding high accuracy. However, it is challenging to achieve a higher precision due to the presence of hysteresis and disturbances. This brief presents a new approach to achieve a precision motion control by overcoming the mentioned problems. The reported solution is derived by integrating three main components, i.e., the online estimation of unknown parameters for the ideal plant, the position prediction with Kalman filter, and an adaptive sliding mode control algorithm. The estimated parameters converge to their real values, which are guaranteed by Lyapunov criterion. Using the estimated parameters, the position is predicted with the Kalman filter. The adaptive law and the control law are designed based on sliding mode strategy to attenuate the influence of the unknown and unmodeled parts. The stability of the control system is proved by resorting to Lyapunov theorem. The effectiveness of the proposed control approach is verified through simulation and experimental investigations on a prototype gripper device.