Hysteresis modeling and compensation for an XY micropositioning stage with model reference adaptive control

Yangmin Li; Qingsong Xu

doi:10.1109/CDC.2009.5399586

Hysteresis modeling and compensation for an XY micropositioning stage with model reference adaptive control

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

5 Citations (Scopus)

Abstract

In this paper, a model reference adaptive controller (MRAC) is designed for a piezo-driven XY parallel micropositioning stage to compensate for the hysteresis effects aiming at a sub-micron accuracy motion tracking control. To convert the desired motion trajectory into voltage input, the inverse modified Prandtl-Ishlinskii (PI) hysteresis model is employed. The modified PI model is identified by optimizing the weight parameters through particle swarm optimization (PSO) to match the model output to experimental data. To compare with other methods, a feedforward controller based on PI model is implemented as well. The performances of MRAC and feedforward controllers are examined by extensive simulation studies. Results show that the former is superior to the latter one in terms of steady state errors especially as the increasing of input rates. Besides, the robustness of MRAC controller with rejection to external disturbances is verified as well.

Original language	English
Title of host publication	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Pages	5580-5585
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.2009.5399586
Publication status	Published - 1 Dec 2009
Externally published	Yes
Event	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China Duration: 15 Dec 2009 → 18 Dec 2009

Conference

Conference	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/Territory	China
City	Shanghai
Period	15/12/09 → 18/12/09

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

More information

10.1109/CDC.2009.5399586

Cite this

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title = "Hysteresis modeling and compensation for an XY micropositioning stage with model reference adaptive control",

abstract = "In this paper, a model reference adaptive controller (MRAC) is designed for a piezo-driven XY parallel micropositioning stage to compensate for the hysteresis effects aiming at a sub-micron accuracy motion tracking control. To convert the desired motion trajectory into voltage input, the inverse modified Prandtl-Ishlinskii (PI) hysteresis model is employed. The modified PI model is identified by optimizing the weight parameters through particle swarm optimization (PSO) to match the model output to experimental data. To compare with other methods, a feedforward controller based on PI model is implemented as well. The performances of MRAC and feedforward controllers are examined by extensive simulation studies. Results show that the former is superior to the latter one in terms of steady state errors especially as the increasing of input rates. Besides, the robustness of MRAC controller with rejection to external disturbances is verified as well.",

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booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",

note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",

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Li, Y & Xu, Q 2009, Hysteresis modeling and compensation for an XY micropositioning stage with model reference adaptive control. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5399586, pp. 5580-5585, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 15/12/09. https://doi.org/10.1109/CDC.2009.5399586

Hysteresis modeling and compensation for an XY micropositioning stage with model reference adaptive control. / Li, Yangmin; Xu, Qingsong.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. 2009. p. 5580-5585 5399586.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AU - Li, Yangmin

AU - Xu, Qingsong

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Hysteresis modeling and compensation for an XY micropositioning stage with model reference adaptive control

Abstract

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ASJC Scopus subject areas

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