By Qingsong Xu, Kok Kiong Tan
This booklet explores rising tools and algorithms that let unique keep an eye on of micro-/nano-positioning platforms. The textual content describes 3 regulate techniques: hysteresis-model-based feedforward regulate and hysteresis-model-free suggestions regulate according to and loose from country commentary. each one paradigm gets devoted recognition inside of a specific a part of the text.
Readers are proven how one can layout, validate and practice numerous new keep watch over methods in micromanipulation: hysteresis modelling, discrete-time sliding-mode keep watch over and model-reference adaptive keep watch over. Experimental effects are supplied all through and increase to a close remedy of functional purposes within the fourth a part of the e-book. The functions concentrate on keep watch over of piezoelectric grippers.
Advanced keep watch over of Piezoelectric Micro-/Nano-Positioning Systems will support educational researchers and working towards keep an eye on and mechatronics engineers drawn to suppressing resources of nonlinearity resembling hysteresis and float while combining place and strength keep an eye on of precision structures with piezoelectric actuation.
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Additional resources for Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems
4238–4243 (2011) 58. : Tracking control of a piezoceramic actuator with hysteresis compensation using inverse preisach model. IEEE/ASME Trans. Mechatron. 10(2), 198–209 (2005) 59. : Least Squares Support Vector Machines. , Singapore (2002) 60. : Least squares support vector machine classifiers. Neural Process. Lett. 9(3), 293–300 (1999) 61. : Adaptive grasping by multi fingered hand with tactile sensor based on robust force and position control. In: Proceeding of the International Conference on Robotics and Automation, pp.
6 Position/Force Control in Micromanipulation 15 a visual servoing system , which typically has a low sampling rate, typically, of the order of 10 Hz. Hence, to deploy a reliable interaction control to a sampled-data system, a discrete-time impedance controller is more preferable. However, limited work has been conducted on discrete-time sliding-mode impedance control scheme in the literature. It is necessary to devise new discrete-time sliding-mode impedance control to realize an interaction control of a piezoelectric microgripper dedicated to micromanipulation and microassembly tasks.
As a subclass of the Preisach hysteresis model, the PI model is a superposition of elementary backlash or play operators. The backlash operator Hr is illustrated in Fig. 4) where u is the voltage control input, y is the displacement response of the stage, r is the control input threshold value or magnitude of the backlash, and T is the sampling time interval. The initial condition of Eq. 5) where y0 is usually but not necessarily initialized to zero. 6) where the weight wh describes the gain of the backlash operator.