An extended PI model for hysteresis and creep compensation in AFM based nanomanipulation
文献类型：会议论文
| 作者 | Wang ZY(王智宇); Liu LQ(刘连庆) ; Wang ZD(王志东); Dong ZL(董再励); Yuan S(袁帅)
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| 出版日期 | 2010 |
| 会议名称 | 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 |
| 会议日期 | December 14-18, 2010 |
| 会议地点 | Tianjin, China |
| 关键词 | Biomimetics Creep Micromanipulators Nanotechnology Robotics Uncertainty analysis |
| 页码 | 992-997 |
| 中文摘要 | One of the prerequisites for AFM based nanomanipulation is that the tip position can be controlled accurately, while this prerequisite is still hindered by the large model uncertainties aroused from PZT nonlinearity such as hysteresis and creep. In this paper, an Extended Prandtl-Ishlinskii (EPI) model is proposed to solve these problems. The main advantage of EPI model over conventional PI model is that the EPI model can compensate the positioning error caused by hysteresis and creep simultaneously through adopting the new adaptive basic operator. The experimental results demonstrate the effectiveness and validity of EPI model in depicting the PZT hysteresis and creep prosperities. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology |
| 会议录 | 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
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| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-9317-3 |
| 源URL | [http://ir.sia.cn/handle/173321/8568]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang ZY,Liu LQ,Wang ZD,et al. An extended PI model for hysteresis and creep compensation in AFM based nanomanipulation[C]. 见:2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. Tianjin, China. December 14-18, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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