TY - JOUR
T1 - Periodic reference tracking control approach for smart material actuators with complex hysteretic characteristics
AU - Sun, Zhiyong
AU - Hao, Lina
AU - Song, Bo
AU - Yang, Ruiguo
AU - Cao, Ruimin
AU - Cheng, Yu
N1 - Funding Information:
This work is partially supported by NSFC under grant 61573093, National High Technology Research and Development Program of China (863 program) under grant 2015AA042302, and Shenyang Innovation Project under grant F13-316-1-74.
Publisher Copyright:
© 2016 IOP Publishing Ltd.
PY - 2016/9/23
Y1 - 2016/9/23
N2 - Micro/nano positioning technologies have been attractive for decades for their various applications in both industrial and scientific fields. The actuators employed in these technologies are typically smart material actuators, which possess inherent hysteresis that may cause systems behave unexpectedly. Periodic reference tracking capability is fundamental for apparatuses such as scanning probe microscope, which employs smart material actuators to generate periodic scanning motion. However, traditional controller such as PID method cannot guarantee accurate fast periodic scanning motion. To tackle this problem and to conduct practical implementation in digital devices, this paper proposes a novel control method named discrete extended unparallel Prandtl-Ishlinskii model based internal model (d-EUPI-IM) control approach. To tackle modeling uncertainties, the robust d-EUPI-IM control approach is investigated, and the associated sufficient stabilizing conditions are derived. The advantages of the proposed controller are: it is designed and represented in discrete form, thus practical for digital devices implementation; the extended unparallel Prandtl-Ishlinskii model can precisely represent forward/inverse complex hysteretic characteristics, thus can reduce modeling uncertainties and benefits controllers design; in addition, the internal model principle based control module can be utilized as a natural oscillator for tackling periodic references tracking problem. The proposed controller was verified through comparative experiments on a piezoelectric actuator platform, and convincing results have been achieved.
AB - Micro/nano positioning technologies have been attractive for decades for their various applications in both industrial and scientific fields. The actuators employed in these technologies are typically smart material actuators, which possess inherent hysteresis that may cause systems behave unexpectedly. Periodic reference tracking capability is fundamental for apparatuses such as scanning probe microscope, which employs smart material actuators to generate periodic scanning motion. However, traditional controller such as PID method cannot guarantee accurate fast periodic scanning motion. To tackle this problem and to conduct practical implementation in digital devices, this paper proposes a novel control method named discrete extended unparallel Prandtl-Ishlinskii model based internal model (d-EUPI-IM) control approach. To tackle modeling uncertainties, the robust d-EUPI-IM control approach is investigated, and the associated sufficient stabilizing conditions are derived. The advantages of the proposed controller are: it is designed and represented in discrete form, thus practical for digital devices implementation; the extended unparallel Prandtl-Ishlinskii model can precisely represent forward/inverse complex hysteretic characteristics, thus can reduce modeling uncertainties and benefits controllers design; in addition, the internal model principle based control module can be utilized as a natural oscillator for tackling periodic references tracking problem. The proposed controller was verified through comparative experiments on a piezoelectric actuator platform, and convincing results have been achieved.
KW - discrete control
KW - hysteresis
KW - internal model
KW - inverse compensation
KW - piezoelectric actuator
UR - http://www.scopus.com/inward/record.url?scp=84989886392&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84989886392&partnerID=8YFLogxK
U2 - 10.1088/0964-1726/25/10/105029
DO - 10.1088/0964-1726/25/10/105029
M3 - Article
AN - SCOPUS:84989886392
SN - 0964-1726
VL - 25
JO - Smart Materials and Structures
JF - Smart Materials and Structures
IS - 10
M1 - 105029
ER -