By Qingsong Xu, Kok Kiong Tan
This e-book explores rising tools and algorithms that permit unique keep watch over of micro-/nano-positioning structures. The textual content describes 3 keep watch over recommendations: hysteresis-model-based feedforward keep watch over and hysteresis-model-free suggestions keep watch over in keeping with and loose from kingdom statement. each one paradigm gets committed cognizance inside of a selected a part of the text.
Readers are proven the right way to layout, validate and follow various new regulate ways in micromanipulation: hysteresis modelling, discrete-time sliding-mode keep an eye on and model-reference adaptive keep watch over. Experimental effects are supplied all through and increase to an in depth remedy of functional functions within the fourth a part of the publication. The functions concentrate on regulate of piezoelectric grippers.
Advanced keep an eye on of Piezoelectric Micro-/Nano-Positioning Systems will help educational researchers and working towards keep an eye on and mechatronics engineers attracted to suppressing resources of nonlinearity reminiscent of hysteresis and go with the flow while combining place and strength keep an eye on of precision platforms with piezoelectric actuation.
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Extra resources for Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems
6b. 9) where y is the output of the hysteresis operator, z is the stage response, wsT = [ws0 , ws1 , . . , wsm ] is the weight vector, Sd [y](t) = [Sd0 [y](t), Sd1 [y](t), . . , Sdm [y](t)]T with the threshold vector d = [d0 , d1 , . . , dm ]T , for 0 = d0 < d1 < · · · < dm < +∞. Therefore, the modified PI operator is derived as follows: z(t) = Γ [u](t) = wsT Sd whT Hr [u, y0 ] (t). 10) A realization of the MPI model using MATLAB/Simulink blocks is shown in Fig. 7. Fig. 3 Inverse MPI Model In order to use the MPI model for the feedforward hysteresis compensation, an inverse model is required to express the voltage as a function of the position.
45) which is depicted in Fig. 13a. In addition, the displacement output of the nanopositioning stage is shown in Fig. 13b. The Bouc–Wen, MPI, and LSSVM model outputs are depicted in Fig. 14. The model output errors with respect to the actual output obtained by experiments are illustrated in Fig. 15. 4 describes the generalization testing results of the three types of models.
Ind. Electron. 57(2), 553–564 (2010) References 19 50. : Miniature compliant grippers with vision-based force sensing. IEEE Trans. Robot. 26(5), 867–877 (2010) 51. : Hybrid microassembly combining robotics and water droplet self-alignment. IEEE Trans. Robot. 26(6), 965–977 (2010) 52. : Force control: A bird’s eye view. In: Siciliano, B. ) Control Problems in Robotics and Automation: Future Directions, pp. 1–17 (1998) 53. : Modeling and impedance control of a piezoelectric bimorph microgripper. In: Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.