Abstract
Integer-order damping and tracking controllers are typically used in tandem to overcome resonance and hysteresis induced positioning errors in piezo-actuated nanopositioners. This paper takes a novel approach of strategically redistributing the controller orders to achieve significant positioning bandwidth improvement, without any significant increase in the design complexity. The Positive Position Feedback (PPF) controller combined with a suitably gained Integral tracking controller is used as a candidate to demonstrate the efficacy of the proposed technique. The resulting fractional-order PPF damping and Integral tracking controllers result in increasing the overall positioning bandwidth of the closed-loop system by 37%; and subsequent improvement in positioning accuracy while tracking high-frequency triangular trajectories.
Original language | English |
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Pages (from-to) | 97-102 |
Number of pages | 6 |
Journal | IFAC-PapersOnLine |
Volume | 54 |
Issue number | 21 |
Early online date | 29 Dec 2021 |
DOIs | |
Publication status | Published - Dec 2021 |
Event | IFAC Control Conference Africa - Magaliesberg, South Africa Duration: 7 Dec 2021 → 8 Dec 2021 |
Keywords
- fractional-order control
- Nanopositioners
- piezoelectric actuator
- positive position feedback
- tracking control