Title :
Reducing Cross-Coupling in a Compliant XY Nanopositioner for Fast and Accurate Raster Scanning
Author :
Yong, Yuen Kuan ; Liu, Kexiu ; Moheimani, S. O Reza
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Univ. of Newcastle, Newcastle, NSW, Australia
Abstract :
A compliant XY nanopositioner is presented in this brief. The device is designed to have a very low cross-coupling between the X- and Y-axis. Despite this, during high-speed raster scans, the cross-coupling effect can not be ignored. In this brief, a H∞ controller is designed and implemented to minimize the X-to- <;i>Y<;/i> cross-coupling of the nanoscale positioning stage, particularly at its mechanical resonance frequencies. The controller is augmented with integral action to achieve accurate tracking, as well as sufficient damping. Raster scan results over an area of 10 μm × 10 μm with small positioning errors are demonstrated. High-speed accurate raster scans of up to 100 Hz, with nanoscale resolution are also illustrated.
Keywords :
H∞ control; compliance control; control system synthesis; nanopositioning; H∞ controller; XY nanopositioner; accurate raster scanning; cross coupling reduction; mechanical resonance frequency; nanoscale positioning stage; positioning errors; Atomic force microscopy; Damping; H infinity control; Nanobioscience; Nanopositioning; Nanotechnology; Open loop systems; Resonance; Resonant frequency; Scanning probe microscopy; Compliant $XY$ nanopositioner; H-infinity control; cross-coupling; high-speed scans; raster scanning;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2009.2033201
