Butterworth Pattern-based Simultaneous Damping and Tracking Controller Designs for Nanopositioning Systems

Douglas Russell; Andres San-Millan; Vicente Feliu; Sumeet Sunil Aphale

doi:10.3389/fmech.2016.00002

Butterworth Pattern-based Simultaneous Damping and Tracking Controller Designs for Nanopositioning Systems

Douglas Russell, Andres San-Millan, Vicente Feliu, Sumeet Sunil Aphale

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9 Citations (Scopus)

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Abstract

The Butterworth filter is known to have maximally flat response. Incidentally, the same response is desired in precise positioning systems. This paper presents a method for obtaining a closed-loop Butterworth filter pattern using common control schemes for positioning applications, i.e., Integral Resonant Control (IRC), Integral Force Feedback (IFF), Positive Position Feedback (PPF), and Positive Velocity and Position Feedback (PVPF). Simulations show a significant increase in bandwidth over traditional design methods and verify the desired pole placement is achieved. The simulations also show a significant limitation of the achievable bandwidth in the case of IRC, IFF, and PPF. For this reason, only PVPF is considered in experimental analysis. Experiments are performed using a two-axis serial kinematic nanopositioning stage. The results show a significant improvement in bandwidth, from 123 to 370 Hz, and increased positioning accuracy, specifically at the turn-around point, in comparison to the sequentially designed control scheme.

Original language	English
Article number	2
Journal	Frontiers in Mechanical Engineering
Volume	2
Early online date	12 Feb 2016
DOIs	https://doi.org/10.3389/fmech.2016.00002
Publication status	Published - 1 Mar 2016

Keywords

nanopositioning
damping control
tracking control
integral resonance control
positive position feedback
positive velocity and position feedback

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10.3389/fmech.2016.00002Licence: CC BY

Butterworth Pattern-based Simultaneous Damping and Tracking Controller Designs for Nanopositioning Systems
© 2016 Russell, San-Millan, Feliu and Aphale. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
Final published version, 5.99 MBLicence: CC BY

Sumeet Aphale
Person: Academic

Cite this

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title = "Butterworth Pattern-based Simultaneous Damping and Tracking Controller Designs for Nanopositioning Systems",

abstract = "The Butterworth filter is known to have maximally flat response. Incidentally, the same response is desired in precise positioning systems. This paper presents a method for obtaining a closed-loop Butterworth filter pattern using common control schemes for positioning applications, i.e., Integral Resonant Control (IRC), Integral Force Feedback (IFF), Positive Position Feedback (PPF), and Positive Velocity and Position Feedback (PVPF). Simulations show a significant increase in bandwidth over traditional design methods and verify the desired pole placement is achieved. The simulations also show a significant limitation of the achievable bandwidth in the case of IRC, IFF, and PPF. For this reason, only PVPF is considered in experimental analysis. Experiments are performed using a two-axis serial kinematic nanopositioning stage. The results show a significant improvement in bandwidth, from 123 to 370 Hz, and increased positioning accuracy, specifically at the turn-around point, in comparison to the sequentially designed control scheme.",

keywords = "nanopositioning, damping control, tracking control, integral resonance control, positive position feedback, positive velocity and position feedback",

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AU - Aphale, Sumeet Sunil

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N2 - The Butterworth filter is known to have maximally flat response. Incidentally, the same response is desired in precise positioning systems. This paper presents a method for obtaining a closed-loop Butterworth filter pattern using common control schemes for positioning applications, i.e., Integral Resonant Control (IRC), Integral Force Feedback (IFF), Positive Position Feedback (PPF), and Positive Velocity and Position Feedback (PVPF). Simulations show a significant increase in bandwidth over traditional design methods and verify the desired pole placement is achieved. The simulations also show a significant limitation of the achievable bandwidth in the case of IRC, IFF, and PPF. For this reason, only PVPF is considered in experimental analysis. Experiments are performed using a two-axis serial kinematic nanopositioning stage. The results show a significant improvement in bandwidth, from 123 to 370 Hz, and increased positioning accuracy, specifically at the turn-around point, in comparison to the sequentially designed control scheme.

AB - The Butterworth filter is known to have maximally flat response. Incidentally, the same response is desired in precise positioning systems. This paper presents a method for obtaining a closed-loop Butterworth filter pattern using common control schemes for positioning applications, i.e., Integral Resonant Control (IRC), Integral Force Feedback (IFF), Positive Position Feedback (PPF), and Positive Velocity and Position Feedback (PVPF). Simulations show a significant increase in bandwidth over traditional design methods and verify the desired pole placement is achieved. The simulations also show a significant limitation of the achievable bandwidth in the case of IRC, IFF, and PPF. For this reason, only PVPF is considered in experimental analysis. Experiments are performed using a two-axis serial kinematic nanopositioning stage. The results show a significant improvement in bandwidth, from 123 to 370 Hz, and increased positioning accuracy, specifically at the turn-around point, in comparison to the sequentially designed control scheme.

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Butterworth Pattern-based Simultaneous Damping and Tracking Controller Designs for Nanopositioning Systems

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