Feedback-linearization control of a piezo-actuated positioning mechanism

Author

Adriaens, Han J. M. T. A. ; de Koning, Willem L. ; Banning, Reinder

Author_Institution

Dept. of Inf. Technol. & Syst., Delft Univ. of Technol., Delft, Netherlands

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

1982

Lastpage

1987

Abstract

The piezoelectric actuator is a common device for realizing extremely small displacements. For an existing piezo-actuated positioning mechanism a state-space model is available. This model contains a differential equation description of the nonlinear hysteresis effect. The model can be transformed to normal form, which makes it amenable to feedback-linearization control. The controller has been implemented real-time on a Digital Signal Processor system. The nonlinear controller is compared to a linear one. It turns out that the nonlinear controller performs significantly better.

Keywords

differential equations; feedback; linear systems; nonlinear control systems; piezoelectric actuators; position control; state-space methods; differential equation description; digital signal processor system; extremely small displacements; feedback-linearization control; nonlinear controller; nonlinear hysteresis effect; normal form; piezo-actuated positioning mechanism; piezoelectric actuator; real-time controller; state-space model; Asymptotic stability; Control systems; Covariance matrices; Hysteresis; Mathematical model; Noise; Observers; Feedback linearization; piezoelectric actuator; positioning engineering;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099608