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Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

文献类型：会议论文

作者Tang H(汤晖); Li YM(李杨民); Yang, Qinmin
出版日期2012
会议名称2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
会议日期August 20-24, 2012
会议地点Seoul, Korea, Republic of
关键词Micromanipulators Piezoelectric ceramics Sustainable development Uncertainty analysis
页码103-108
中文摘要This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedded piezoelectric ceramic actuators (PZT) are adopted. Based on the identified plant transfer function of the nano-positioner, the presented control strategy and the traditional PID controller are implemented with different input scanning frequencies of 0.5 Hz and 2.5 Hz for comparisons. Both the simulation results and the practical experimental results demonstrate that the presented TLSH control method obviously performs better than the traditional PID method in the presence of plant model uncertainty, which will be applied to perform practical micromanipulation tasks. 
收录类别EI
产权排序2
会议录2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
会议录出版者IEEE Computer Society
会议录出版地Washington, DC, USA
语种英语
ISSN号2161-8070
ISBN号978-1-4673-0428-3
源URL[http://ir.sia.cn/handle/173321/10426]  
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		 Tang H,Li YM,Yang, Qinmin. Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller[C]. 见:2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012. Seoul, Korea, Republic of. August 20-24, 2012.

入库方式： OAI收割

来源：沈阳自动化研究所

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