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Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems

:	Qingsong Xu, Kok Kiong Tan
:	Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems
:	Springer-Verlag
:	9783319216232
:	Advances in Industrial Control
:	1
:	CHF 85.90
:

:	Elektronik, Elektrotechnik, Nachrichtentechnik
:	English

:	266
:	Wasserzeichen/DRM
:	PC/MAC/eReader/Tablet
:	PDF

This book explores emerging methods and algorithms that enable precise control of micro-/nano-positioning systems. The text describes three control strategies: hysteresis-model-based feedforward control and hysteresis-model-free feedback control based on and free from state observation. Each paradigm receives dedicated attention within a particular part of the text.

Readers are shown how to design, validate and apply a variety of new control approaches in micromanipulation: hysteresis modelling, discrete-time sliding-mode control and model-reference adaptive control. Experimental results are provided throughout and build up to a detailed treatment of practical applications in the fourth part of the book. The applications focus on control of piezoelectric grippers.

Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems will assist academic researchers and practising control and mechatronics engineers interested in suppressing sources of nonlinearity such as hysteresis and drift when combining position and force control of precision systems with piezoelectric actuation.

Prof. Qingsong Xu has been working in the area of micro-/nano-mechatronics and robotics including design and precision control of micro/nano-positioning systems for about 10 years. He has published over 130 peer-reviewed papers in journals and conferences in related domains.
Prof. Kok Kiong Tan has been working in the area of precision motion control and instrumentation, advanced process control and autotuning, and general industrial automation for over 20 years. He has published over 10 books and 400 scientific papers in related fields.

	Series Editors' Foreword	7
	Preface	9
	Contents	13
	Abbreviations	19
	1 Introduction	21
	1.1 Micro-/Nano-positioning Technique	21
	1.2 Actuators and Sensors	22
	1.3 Piezoelectric Nonlinearity	24
	1.4 Feedforward Control Based on Hysteresis Models	25
	1.4.1 Conventional Hysteresis Model	26
	1.4.2 Intelligent Hysteresis Model	28
	1.4.3 Feedforward Plus Feedback Control	28
	1.5 Robust Feedback Control	29
	1.5.1 Sliding-Mode Control	30
	1.5.2 Model Predictive Control	31
	1.5.3 Model-Reference Adaptive Control	32
	1.5.4 Other Control Strategies	33
	1.6 Position/Force Control in Micromanipulation	33
	1.6.1 Hybrid Control	34
	1.6.2 Impedance Control	34
	1.6.3 Switching Control	35
	1.7 Book Summary	36
	References	36
	Part I Hysteresis-Model-Based FeedforwardControl	41
	2 Feedforward Control Based on Inverse Hysteresis Models	42
	2.1 Introduction	42
	2.2 System Description and Hysteresis Characterization	43
	2.2.1 Experimental Setup	43
	2.2.2 Hysteresis Characterization	44
	2.3 Hysteresis Modeling	47
	2.3.1 Hysteresis Modeling with the Bouc--Wen Model	47
	2.3.2 Hysteresis Modeling with the MPI Model	48
	2.3.3 Hysteresis Modeling with the LSSVM	51
	2.4 Experimental Studies	55
	2.4.1 Bouc--Wen Model Results	55
	2.4.2 MPI Model Results	56
	2.4.3 LSSVM Model Results	59
	2.4.4 Model Capability Comparison	61
	2.4.5 Generalization Study	63
	2.5 Controller Design and Verification	66
	2.5.1 Feedforward Controller Design	66
	2.5.2 Feedforward Plus Feedback Controller Design	68
	2.5.3 Controller Verification	68
	2.6 Chapter Summary	73
	References	73
	3 Feedforward Control Without Modeling Inverse Hysteresis	75
	3.1 Introduction	75
	3.2 Dynamics Modeling of Hysteretic System	76
	3.2.1 Dynamics Modeling with Bouc--Wen Hysteresis	76
	3.2.2 Dynamics Modeling with Intelligent Hysteresis Model	77
	3.3 Hysteresis Modeling Using LSSVM	78
	3.3.1 Regression Model Establishment	78
	3.3.2 LSSVM Modeling	78
	3.4 Experimental Studies on Hysteresis Identification	80
	3.4.1 Experimental Setup	80
	3.4.2 Dynamics Model Identification	81
	3.4.3 Bouc--Wen Model Results	82
	3.4.4 LSSVM Model Results	85
	3.5 Experimental Studies on Hysteresis Compensation	89
	3.5.1 Feedforward Compensation	89
	3.5.2 Feedforward Plus Feedback Control	91
	3.6 Chapter Summary	92
	References	93
	Part II Hysteresis-Model-Free,State-Obser ver-Based Feedback Control	94
	4 Model Predictive Discrete-Time Sliding-Mode Control	95
	4.1 Introduction	95
	4.2 Problem Formulation	97
	4.2.1 Dynamics Modeling of a Nanopositioning System	97
	4.2.2 Sliding-Mode Controller Design	99
	4.2.3 Control Gain Design	101
	4.3 DTSMC Design	102
	4.3.1 Controller Design and Analysis	102
	4.3.2 Tracking Error Bound Analysis	104
	4.4 MPDTSMC Design	105
	4.4.1 MPDTSMC Controller Design	105
	4.4.2 Stability Analysis	107
	4.4.3 State Observer Design	108
	4.4.4 Tracking and Estimation Error Bound Analysis	109
	4.5 Experimental Investigation	110
	4.5.1 Experimental Setup	110
	4.5.2 Hysteresis Characterization	110
	4.5.3 Plant Model Identification	111
	4.5.4 Controller Parameter Design	112
	4.5.5 Simulation Studies	113
	4.5.6 Experimental Testing Results	115
	4.5.7 Discussion on System Performance	118
	4.6 Chapter Summary	119
	References	119
	5 Model Predictive Output Integral Discrete-Time Sliding-Mode Control	121
	5.1 Introduction	121
	5.2 Problem Formulation	122
	5.3 MPOIDSMC Design	123
	5.3.1 OIDSMC Controller Design	123
	5.3.2 MPOIDSMC Controller Design	125
	5.4 Experimental Investigations	130
	5.4.1 Experimental Setup	130
	5.4.2 Plant Model Identification	131
	5.4.3 Controller Parameter Design	132
	5.4.4 Experimental Studies	134
	5.4.5 Discussion on Controller Performance	137
	5.5 Chapter Summary	138
	References	138
	Part III Hysteresis-Model-Free,State-Observer-Free Feedback Control	140
	6 Digital Sliding-Mode Control of Second-Order Systems	141
	6.1 Introduction	141
	6.2 Dynamics Model and Problem Formulation	142
	6.3 DSMC Design	144
	6.4 Experimental Studies	147
	6.4.1 Experimental Setup	147
	6.4.2 Plant Model Identification	148
	6.4.3 Experimental Results	149
	6.4.4 Discussion	159
	6.5 Chapter Summary	159
	References	160
	7 Digital Sliding-Mode Control of High-Order Systems	161
	7.1 Introduction	161
	7.2 Problem Formulation	162
	7.2.1 System Modeling	162
	7.2.2 Dis