Title :
Micro-positioning of linear piezoelectric motors based on a learning nonlinear PID controller
Author :
Zhou, H. ; Tan, K.K. ; Lee, T.H.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
A learning nonlinear PID controller is developed for vaguely modeled nonlinear systems under significant disturbance and noise. The control scheme is generic in nature, but it is applied specifically to micro-positioning of linear piezoelectric motors. Mathematical models for the piezoelectric motor and the associated friction phenomenon are provided and verified in the simulation and experimental results provided. These results also highlight the good motion control performance achieved from the control scheme
Keywords :
control system synthesis; friction; learning systems; linear motors; machine control; micropositioning; motion control; nonlinear control systems; three-term control; ultrasonic motors; friction phenomenon; learning nonlinear PID controller; linear piezoelectric motors; micro-positioning; vaguely modeled nonlinear systems; Control systems; Friction; Hysteresis motors; Mathematical model; Micromotors; Motion control; Nonlinear control systems; Nonlinear systems; Piezoelectric actuators; Three-term control;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912889
