Adaptive tracking control solely using displacement feedback for a piezo-positioning mechanism
Adaptive tracking control solely using displacement feedback for a piezo-positioning mechanism
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DOI：
10.1049/ip-cta:20040795
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发表时间：
2004-12
影响因子：
2.6
通讯作者：
H. Shieh;F. Lin;Ping Huang;Li-Tao Teng
中科院分区：
文献类型：
--
作者：
H. Shieh;F. Lin;Ping Huang;Li-Tao Teng
针对压电定位机构，提出了一种仅采用位移反馈的自适应位移跟踪控制方法。为了开发一个动态模型来表示受控压电定位机构的整体系统动力学，提出了一个特定的函数。该函数描述了被控机构的迟滞特性，包含了机械运动动力学、迟滞摩擦、扰动载荷和参数变化等信息。在此基础上，提出了一种自适应反推位移跟踪控制方法，该方法包括对特定函数的反推自适应和对未知特定函数的重构状态的估计。所提出的控制设计导致改善的跟踪性能，和鲁棒性的外部负载干扰，和系统参数的变化。实验结果证明了所提出的控制设计的有效性。
An adaptive displacement tracking control using only displacement feedback is proposed for a piezo-positioning mechanism. In order to develop a dynamic model to represent the overall system dynamics of the controlled piezo-positioning mechanism, a specific function is proposed. This function that describes the hysteresis of the controlled mechanism contains information on the mechanical motion dynamics, hysteresis friction, disturbance load and parameter variations. Based on the developed model, an adaptive backstepping displacement tracking control is proposed, in which the backstepping adaptation of the specific function and the estimation of the reconstructed state with an unknown specific function are presented. The proposed control design leads to an improved tracking performance, and robustness to the external load-disturbance, and variations in system parameters. The validity of the proposed control design is demonstrated by experimental results.