DocumentCode :
2835119
Title :
Discrete Sliding Mode Control of Piezo Actuator in Nano-Scale Range
Author :
Khan, Shahzad ; Elitas, Meltem ; Kunt, Emrah Deniz ; Sabanovic, Asif
Author_Institution :
Sabanci Univ., Istanbul
fYear :
2006
fDate :
15-17 Dec. 2006
Firstpage :
1454
Lastpage :
1459
Abstract :
In this paper discrete sliding mode control (SMC) of Piezo actuator is demonstrated in order to achieve a very high accuracy in Nano-scale with the desired dynamics. In spite of the fast dynamics of the Piezo actuator the problem of chattering is eliminated with the SMC control structure. The Piezo actuator suffers from hysteresis loop which is the inherent property and it gives rise to the dominant non-linearity in the system. The proposed SMC control structure has been proved to deliver chattering free motion along with the compensation of the non linearity present due to hysteresis in the system. To further enhance the accuracy of the closed loop system and to be invariant to changes in the plant parameters a robust disturbance observer is designed on SMC framework by taking into consideration the lumped nominal plant parameters. Experimental results for closed loop position and micromanipulation applications are presented in order to verify the Nano-scale accuracy.
Keywords :
closed loop systems; discrete systems; piezoelectric actuators; variable structure systems; closed loop system; discrete sliding mode control; hysteresis loop; lumped nominal plant parameters; micromanipulation applications; piezo actuator; robust disturbance observer; Control systems; Electric variables control; Force feedback; Hysteresis; Mechatronics; Open loop systems; Piezoelectric actuators; Robust control; Sliding mode control; Voltage control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Technology, 2006. ICIT 2006. IEEE International Conference on
Conference_Location :
Mumbai
Print_ISBN :
1-4244-0726-5
Electronic_ISBN :
1-4244-0726-5
Type :
conf
DOI :
10.1109/ICIT.2006.372418
Filename :
4237740
Link To Document :
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