Micro-positioning of linear-piezoelectric motors based on a learning nonlinear PID controller
- 1 December 2001
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE/ASME Transactions on Mechatronics
- Vol. 6 (4), 428-436
- https://doi.org/10.1109/3516.974856
Abstract
In this paper, a learning nonlinear proportional integral derivative (PID) controller is developed for vaguely modeled nonlinear systems under the influence of significant disturbance and noise. The control scheme is generic in nature, but it is applied specifically to the micropositioning of linear-piezoelectric motors in this paper. The design of the control scheme does not require a full mathematical model of the nonlinear system. Simulation and experimental results are provided to highlight the good motion control performance achieved from the control scheme.Keywords
This publication has 18 references indexed in Scilit:
- Robust friction compensator for harmonic drive transmissionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A linear piezoelectric motorSmart Materials and Structures, 1998
- Theoretical and experimental studies of a piezoelectric ultrasonic linear motor with respect to damping and nonlinear material behaviourUltrasonics, 1998
- Submicrometer overshoot control of rapid and precise positioningPrecision Engineering, 1997
- Parametrization and adaptive compensation of friction forcesInternational Journal of Adaptive Control and Signal Processing, 1997
- Adaptive friction compensation with partially known dynamic friction modelInternational Journal of Adaptive Control and Signal Processing, 1997
- Linear motor motion control using a learning feedforward controllerIEEE/ASME Transactions on Mechatronics, 1997
- Tracking control of a piezoceramic actuatorIEEE Transactions on Control Systems Technology, 1996
- A survey of models, analysis tools and compensation methods for the control of machines with frictionAutomatica, 1994
- Design and characterization of a linear motion piezoelectric micropositionerIEEE Control Systems Magazine, 1990