TY - JOUR
T1 - Adaptive tracking control solely using displacement feedback for a piezo-positioning mechanism
AU - Shieh, H. J.
AU - Lin, F. J.
AU - Huang, P. K.
AU - Teng, L. T.
PY - 2004/9
Y1 - 2004/9
N2 - An adaptive displacement tracking control using only displacement feedback is proposed for a piezo-positioning mechanism. In order to develop a dynamic model to represent the overall system dynamics of the controlled piezo-positioning mechanism, a specific function is proposed. This function that describes the hysteresis of the controlled mechanism contains information on the mechanical motion dynamics, hysteresis friction, disturbance load and parameter variations. Based on the developed model, an adaptive backstepping displacement tracking control is proposed, in which the backstepping adaptation of the specific function and the estimation of the reconstructed state with an unknown specific function are presented. The proposed control design leads to an improved tracking performance, and robustness to the external load-disturbance, and variations in system parameters. The validity of the proposed control design is demonstrated by experimental results.
AB - An adaptive displacement tracking control using only displacement feedback is proposed for a piezo-positioning mechanism. In order to develop a dynamic model to represent the overall system dynamics of the controlled piezo-positioning mechanism, a specific function is proposed. This function that describes the hysteresis of the controlled mechanism contains information on the mechanical motion dynamics, hysteresis friction, disturbance load and parameter variations. Based on the developed model, an adaptive backstepping displacement tracking control is proposed, in which the backstepping adaptation of the specific function and the estimation of the reconstructed state with an unknown specific function are presented. The proposed control design leads to an improved tracking performance, and robustness to the external load-disturbance, and variations in system parameters. The validity of the proposed control design is demonstrated by experimental results.
UR - http://www.scopus.com/inward/record.url?scp=9944221069&partnerID=8YFLogxK
U2 - 10.1049/ip-cta:20040795
DO - 10.1049/ip-cta:20040795
M3 - 期刊論文
AN - SCOPUS:9944221069
SN - 1350-2379
VL - 151
SP - 653
EP - 660
JO - IEE Proceedings: Control Theory and Applications
JF - IEE Proceedings: Control Theory and Applications
IS - 5
ER -