https://scholars.lib.ntu.edu.tw/handle/123456789/611957
Title: | Sliding-mode control of a three-degrees-of-freedom nanopositioner | Authors: | Shen J.-C. Jywe W.-Y. Liu C.-H. Jian Y.-T. Yang J. Wen-Yuh Jywe |
Keywords: | Capacitive sensors;Controllers;Degrees of freedom (mechanics);Hysteresis;Linear systems;Piezoelectric actuators;Piezoelectricity;Proportional control systems;Sliding mode control;Two term control systems;Estimation and compensation;Hysteresis non linearities;Linear system model;Nano-positioner;Open loop characteristic;Precision, nonlinear;Proportional integral derivative controllers;Three degrees of freedom;Feedback | Issue Date: | 2008 | Journal Volume: | 10 | Journal Issue: | 3 | Start page/Pages: | 267-276 | Source: | Asian Journal of Control | Abstract: | This paper presents the sliding-mode control of a three-degrees-of-freedom nanopositioner (Z, Dx, Oy). This nanopositioner is actuated by piezoelectric actuators. Capacitive gap sensors are used for position feedback. In order to design the feedback controller, the open-loop characteristics of this nanopositioner are investigated. Based on the results of the investigation, each pair of piezoelectric actuators and corresponding gap sensors is treated as an independent system and modeled as a first-order linear model coupled with hysteresis. When the model is identified and the hysteresis nonlinearity is linearized, a linear system model with uncertainty is used to design the controller. When designing the controller, the sliding-mode disturbance (uncertainty) estimation and compensation scheme is used. The structure of the proposed controller is similar to that of a proportional integral derivative controller. Thus, it can be easily implemented. Experimental results show that 3-nm tracking resolution can be obtained. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-56149087183&doi=10.1002%2fasjc.33&partnerID=40&md5=155871715c0cf6d68b05b471b35d2c7f https://scholars.lib.ntu.edu.tw/handle/123456789/611957 |
DOI: | 10.1002/asjc.33 |
Appears in Collections: | 機械工程學系 |
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