TY - GEN
T1 - Two-Degrees-of-Freedom Controller delivering zero-error tracking of ramp-like trajectories for nanopositioning systems
AU - San-Millan, Andres
AU - Aphale, Sumeet Sunil
AU - Feliu, Vicente
N1 - This paper was sponsored by the Spanish FPU12/00984 Program (Ministerio de Educacion, Cultura y Deporte). It was also sponsored by the Spanish Government Research Program with the Project DPI2012-37062-CO2-01 (Ministerio de Economia y Competitividad) and by the European Social Fund.
PY - 2015/11/5
Y1 - 2015/11/5
N2 - Piezoelectrically actuated nanopositioning systems (tube or platform type) are widely employed in applications where fine mechanical displacements with resolution down to atomic scale are required. This paper presents the design, analysis, and validation of a new control scheme based on the structure of the traditional Two-Degrees-of-Freedom (2DOF) PID controller. The proposed controller is established based on a linear continuous input-output nominal model, and presents a simple structure composed by two second order transfer functions. Despite its simplicity, the controller studied in this paper is able to achieve zero error in the tracking of ramp input signals and, therefore, in the slopes of triangular signals, typically used in nanopositioning applications to trace a raster pattern. The controller also suppresses the unmodeled nonlinearities of the piezoelectric actuated nanopositioning systems without the need of an hysteresis model or a state observer. Moreover, the stability of the control system is proved, and its effectiveness is validated through experimental chattering-free control on a piezoelectric stack-actuated nanopositioning platform. Results demonstrate that the proposed controller is superior to the conventional polynomial-based, proportional-integral, and resonant controllers proposed in literature for motion-tracking tasks in nanopositioning systems.
AB - Piezoelectrically actuated nanopositioning systems (tube or platform type) are widely employed in applications where fine mechanical displacements with resolution down to atomic scale are required. This paper presents the design, analysis, and validation of a new control scheme based on the structure of the traditional Two-Degrees-of-Freedom (2DOF) PID controller. The proposed controller is established based on a linear continuous input-output nominal model, and presents a simple structure composed by two second order transfer functions. Despite its simplicity, the controller studied in this paper is able to achieve zero error in the tracking of ramp input signals and, therefore, in the slopes of triangular signals, typically used in nanopositioning applications to trace a raster pattern. The controller also suppresses the unmodeled nonlinearities of the piezoelectric actuated nanopositioning systems without the need of an hysteresis model or a state observer. Moreover, the stability of the control system is proved, and its effectiveness is validated through experimental chattering-free control on a piezoelectric stack-actuated nanopositioning platform. Results demonstrate that the proposed controller is superior to the conventional polynomial-based, proportional-integral, and resonant controllers proposed in literature for motion-tracking tasks in nanopositioning systems.
U2 - 10.1109/CCA.2015.7320714
DO - 10.1109/CCA.2015.7320714
M3 - Published conference contribution
SP - 792
EP - 797
BT - 2015 IEEE Multi-Conference on Systems and Control (CCA)
PB - Institute of Electrical and Electronics Engineers (IEEE)
T2 - IEEE Conference on Control Applications (CCTA)
Y2 - 21 September 2015 through 23 September 2015
ER -