Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

Hui Tang; Yangmin Li; Qinmin Yang

doi:10.1109/CoASE.2012.6386405

Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

Hui Tang, Yangmin Li, Qinmin Yang

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

6 Citations (Scopus)

Abstract

This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedded piezoelectric ceramic actuators (PZT) are adopted. Based on the identified plant transfer function of the nano-positioner, the presented control strategy and the traditional PID controller are implemented with different input scanning frequencies of 0.5 Hz and 2.5 Hz for comparisons. Both the simulation results and the practical experimental results demonstrate that the presented TLSH control method obviously performs better than the traditional PID method in the presence of plant model uncertainty, which will be applied to perform practical micromanipulation tasks.

Original language	English
Title of host publication	2012 IEEE International Conference on Automation Science and Engineering
Subtitle of host publication	Green Automation Toward a Sustainable Society, CASE 2012
Pages	103-108
Number of pages	6
DOIs	https://doi.org/10.1109/CoASE.2012.6386405
Publication status	Published - 1 Dec 2012
Externally published	Yes
Event	2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012 - Seoul, Korea, Republic of Duration: 20 Aug 2012 → 24 Aug 2012

Conference

Conference	2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
Country/Territory	Korea, Republic of
City	Seoul
Period	20/08/12 → 24/08/12

Keywords

double four-bar flexures
micromanipulation
Nano-positioner
plant model uncertainty
transfigured loop-shaping H control ∞

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

More information

10.1109/CoASE.2012.6386405

Cite this

Tang, H., Li, Y., & Yang, Q. (2012). Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller. In 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012 (pp. 103-108). Article 6386405 https://doi.org/10.1109/CoASE.2012.6386405

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Tang, H, Li, Y & Yang, Q 2012, Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller. in 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012., 6386405, pp. 103-108, 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012, Seoul, Korea, Republic of, 20/08/12. https://doi.org/10.1109/CoASE.2012.6386405

Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller. / Tang, Hui; Li, Yangmin; Yang, Qinmin.
2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012. 2012. p. 103-108 6386405.

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

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Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

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Keywords

ASJC Scopus subject areas

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