Title :
Adaptive control for piezo-actuated stage based on continuous-time approach
Author :
Chen, Xinkai ; Nagaya, Yoshinobu
Author_Institution :
Dept. of Electron. Inf. Syst., Shibaura Inst. of Technol., Saitama, Japan
Abstract :
The piezo-actuated stage is composed of a piezoelectric actuator (PEA) and a positioning mechanism (PM). Due to the existence of hysteretic nonlinearity in the PEA and the friction behavior in the PM, the accurate position control of the piezo-actuated stage is a challenging task. This paper discusses the continuous-time adaptive control for the piezo-actuated stage, where the hysteresis is described by Prandtl-Ishlinskii model. The proposed control law ensures the zero output tracking of the controlled stage. Experimental results show the effectiveness of the proposed method.
Keywords :
adaptive control; continuous time systems; control nonlinearities; friction; hysteresis; mechanical variables control; piezoelectric actuators; position control; tracking; PEA; Prandtl-Ishlinskii model; continuous-time adaptive control; friction behavior; hysteretic nonlinearity; piezo-actuated stage; piezoelectric actuator; position control; positioning mechanism; zero output tracking; Actuators; Adaptation models; Adaptive control; Hysteresis; Mathematical model; Polynomials; Piezo-actuated stage; Prandtl-Ishlinskii model; adaptive control; hysteresis;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6285139
