Model predictive discrete-time sliding mode control of a nanopositioning piezostage without modeling hysteresis

Qingsong Xu, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

99 Citations (Scopus)


This paper proposes an enhanced model predictive discrete-time sliding mode control (MPDSMC) with proportional-integral (PI) sliding function and state observer for the motion tracking control of a nanopositioning system driven by piezoelectric actuators. One distinct advantage of the proposed controller lies in that its implementation only requires a simple second-order model of the system, whereas it does not need to know neither the hysteresis model nor the bounds on system uncertainties. The unmodeled hysteresis is eliminated by the one-step delayed disturbance estimation technique and the neglected residual modes are suppressed by employing a properly-designed state observer. Moreover, the reasons why the model predictive control methodology and PI action can eliminate the chattering effects and produce a low level of tracking error are discovered in state-space framework. Experimental results demonstrate that the performance of the proposed MPDSMC controller is superior to both conventional PID and DSMC methods in motion tracking tasks. A precise tracking is achieved by the nanopositioning stage along with the hysteretic nonlinearity mitigated to a negligible level, which validates the feasibility of the proposed controller in the domain of micro-/nanomanipulation.
Original languageEnglish
Article number5929495
Pages (from-to)983-994
Number of pages12
JournalIEEE Transactions on Control Systems Technology
Issue number4
Publication statusPublished - 1 Jan 2012
Externally publishedYes


  • Flexure mechanisms
  • hysteresis
  • nanopositioning
  • nonlinear control
  • piezoelectric actuators (PZTs)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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