Development and Active Disturbance Rejection Control of a Compliant Micro-/Nanopositioning Piezostage with Dual Mode

Hui Tang, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

137 Citations (Scopus)


In the atomic force microscope (AFM) scanning system, the piezoscanner is significant in realizing highperformance tasks. To cater to this demand, a novel compliant two-degrees-of-freedom (2-DOF) micro-/nanopositioning stage with modified lever displacement amplifiers is proposed in this paper, which can be selected to work in dual modes. Moreover, the modified double four-bar P (P denotes prismatic) joints are adopted in designing the flexible limbs. The established models for the mechanical performance evaluation in terms of kinetostatics, dynamics, and workspace are validated by finite-element analysis. After a series of dimension optimizations carried out via particle swarm optimization algorithm, a novel active disturbance rejection controller, including the components of nonlinearity tracking differentiator, extended state observer, and nonlinear state error feedback, is designed for automatically estimating and suppressing the plant uncertainties arising from the hysteresis nonlinearity, creep effect, sensor noises, and other unknown disturbances. The closed-loop control results based on simulation and prototype indicate that the two working natural frequencies of the proposed stage are approximated to be 805.19 and 811.31 Hz, the amplification ratio in two axes is about 4.2, and the workspace is around 120 × 120 μm2, while the cross-coupling between the two axes is kept within 2%. All of the results indicate that the developed micro-/nanopositioning system has a good property for high-performance AFM scanning.
Original languageEnglish
Article number6502698
Pages (from-to)1475-1492
Number of pages18
JournalIEEE Transactions on Industrial Electronics
Issue number3
Publication statusPublished - 1 Jan 2014
Externally publishedYes


  • Active disturbance rejection control
  • atomic force microscope (AFM)
  • lever displacement amplifiers (LDAs)
  • micro-/nanopositioning system
  • plant uncertainties

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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