Title :
A novel adaptive rejection control approach for multiple narrow-band disturbances in nano-manipulating systems
Author :
Zeshan Lyu;Peng Yan;Zhen Zhang
Author_Institution :
School of Automation Science and Electrical Engineering, Beihang University, Xueyuan Road No.37, Haidian District, Beijing, 100191, China
fDate :
7/1/2015 12:00:00 AM
Abstract :
This paper presents an innovative method for rejecting multiple narrow-band disturbances in nano-manipulating servo systems. The proposed control scheme consists of a robust controller and a multiple optimal phase filter structure. The baseline robust controller is synthesized with mixed sensitivity optimization for the purpose of robust stability and servo performance. A novel adaptive digital multiple optimal phase filter structure is then developed with a parallel connection, such that online estimation and suppression of the narrow-band disturbances with unknown or time-varying frequencies can be achieved without sacrificing the stability robustness of the closed-loop systems. The proposed control scheme is evaluated via simulations and implemented on a piezoelectric-actuator driven nanopositioner, where high precision positioning is demonstrated in the presence of both unmodeled dynamics and multiple disturbances.
Keywords :
"Narrowband","Sensitivity","Robustness","Time-frequency analysis","Attenuation","Adaptation models","Transfer functions"
Conference_Titel :
Society of Instrument and Control Engineers of Japan (SICE), 2015 54th Annual Conference of the
DOI :
10.1109/SICE.2015.7285350