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

fYear

2012

fDate

5-8 Aug. 2012

Firstpage

2059

Lastpage

2064

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2012 International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4673-1275-2

Type

conf

DOI

10.1109/ICMA.2012.6285139

Filename

6285139