- Title
- Nonlinear tracking control scheme for a nanopositioner
- Creator
- Vagia, Marialena; Eielsen, Arnfinn A.; Gravdahl, J. Tommy; Pettersen, Kristin Y.
- Relation
- 24th Mediterranean Conference on Control and Automation (MED). Procedings of the 24th Mediterranean Conference on Control and Automation (MED) (Athens, Greece 21-24 June, 2016) p. 860-865
- Publisher Link
- http://dx.doi.org/10.1109/MED.2016.7536016
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2016
- Description
- The ability to track periodic reference trajectory signals fast and with good accuracy, is highly required in many different nanopositioning applications. Since different factors can affect the performance of such devices, like lightly damped resonances and actuator nonlinearties including hysteresis and creep, a number of control schemes have been presented in order to overcome these difficulties, in the recent literature. In the present paper a nonlinear feedback controller is proposed that includes both force and tracking control of a nanopositioner. The nonlinear controller is an augmentation of a linear integral force controller where the constant gain used in the integral force feedback, is replaced by a passive nonlinear operator. The nonlinear control law provides improved performance with regards to disturbance rejection and vibration damping over the linear control law. In addition, a feedback component is added. The stability of the overall closed loop system is analysed using the multivariable Popov criterion.
- Subject
- force; nanopositioning; force feedback; closed loop systems; feedforward neural networks; damping; stability analysis
- Identifier
- http://hdl.handle.net/1959.13/1348074
- Identifier
- uon:30143
- Identifier
- ISBN:9781467383455
- Language
- eng
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