By Qingsong Xu, Kok Kiong Tan
This booklet explores rising equipment and algorithms that let specific regulate of micro-/nano-positioning structures. The textual content describes 3 keep watch over techniques: hysteresis-model-based feedforward regulate and hysteresis-model-free suggestions regulate in keeping with and loose from country statement. each one paradigm gets devoted consciousness inside a specific a part of the text.
Readers are proven find out how to layout, validate and practice quite a few new keep an eye on methods in micromanipulation: hysteresis modelling, discrete-time sliding-mode regulate and model-reference adaptive regulate. Experimental effects are supplied all through and building up to a close therapy of useful functions within the fourth a part of the e-book. The purposes specialize in regulate of piezoelectric grippers.
Advanced keep watch over of Piezoelectric Micro-/Nano-Positioning Systems will support educational researchers and practicing regulate and mechatronics engineers attracted to suppressing resources of nonlinearity similar to hysteresis and go with the flow whilst combining place and strength keep an eye on of precision structures with piezoelectric actuation.
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Extra resources for Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems
511–522 (2008) 18 1 Introduction 30. : Micro-macro linear piezoelectric motor based on self-moving cell. Mechatronics 19(7), 1134–1142 (2009) 31. : Disturbance rejection in robust model reference adaptive control of parabolic and hyperbolic systems. In: Proceeding of 45th IEEE Conference on Decision and Control, pp. 3083–3088. San Diego, CA, USA (2006) 32. : Feedforward control of piezoactuators in atomic force microscope systems: Inversion-based compensation for dynamics and hysteresis. IEEE Control Syst.
It is very difficult to capture the complicated rate-dependent hysteretic behavior precisely. In addition, majority of the existing models employ a large number of parameters to describe the rate-dependent hysteresis [1, 21], which may block their applications in high-speed real-time control as an adverse effect. Recently, it has been shown that ANN provides an efficient way to model the nonlinear hysteresis [5, 20]. Nevertheless, there is no universal method to determine an optimal ANN structure in terms of the number of hidden layers and number of neurons in each layer.
1007/978-3-319-21623-2_2 23 24 2 Feedforward Control Based on Inverse Hysteresis Models forming the regression problem into a convex quadratic programming (QP) problem and then solving it with a QP solver. As compared with the conventional ANN, SVM exhibits the major advantages of global optimization and higher generalization capability. As a variant of SVM, LSSVM is introduced in 1999 . LSSVM utilizes equality constraints instead of inequality constraints as in the ordinary SVM. Hence, it simplifies the regression to a problem that can be easily solved from a set of linear equations .
Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems by Qingsong Xu, Kok Kiong Tan