CMAC-based PID control of an XY parallel micropositioning stage

Qingsong Xu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

4 Citations (Scopus)


This paper presents the controller design of an XY parallel micropositioning stage aiming at a sub-micron accuracy for micro scale manipulation. Owning to the decoupled design of the mechanism, a simple single-input-single-output (SISO) PID controller is adopted for each axis. To compensate for the hysteresis arising from piezoelectric actuator, credit assigned CMAC (cerebellar model articulation controller) neural network with adjustable learning rate is employed into the PID control. Experimental results show that the hysteresis of the stage has been significantly reduced by the CMAC-based PID controller and the stage can achieve a sub-micron positioning accuracy, which demonstrate the effectiveness of the designed controller as well.
Original languageEnglish
Title of host publicationAdvances in Neural Networks - ISNN 2009 - 6th International Symposium on Neural Networks, ISNN 2009, Proceedings
Number of pages10
EditionPART 2
Publication statusPublished - 10 Sep 2009
Externally publishedYes
Event6th International Symposium on Neural Networks, ISNN 2009 - Wuhan, China
Duration: 26 May 200929 May 2009

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume5552 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference6th International Symposium on Neural Networks, ISNN 2009


  • CMAC neural network
  • Micropositioning
  • Parallel manipulator

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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