- Title
- Tracking of constant-linear-velocity spiral trajectories by approximate internal model control
- Creator
- Bazaei, Ali; Maroufi, Mohammad; Moheimani, S. O. Reza
- Relation
- 1st Annual IEEE Conference on Control Technology and Applications (CCTA 2017). Proceedings of the 1st Annual IEEE Conference on Control Technology and Applications (Mauna Lani, HI 27-30 August, 2017) p. 129-134
- Publisher Link
- http://dx.doi.org/10.1109/GLOCOM.2017.8254674
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2017
- Description
- We report an Approximate Internal Model Control (AIMC) method for tracking of the reference signals by which a constant-linear-velocity (CLV) spiral scan pattern is generated. In contrast to the constant-angular-velocity (CAV) spiral pattern, the instantaneous frequency of the CLV sinusoidal references considerably varies over the scan period. In addition, the reference amplitude is a nonlinear function of time, making the tracking of a CLV spiral reference a more challenging control objective. Considerable improvement in the tracking performance of the proposed time-varying controller is demonstrated compared to a recently developed LQG method for spiral trajectories. Experimental implementation on a MEMS nanopositioner further illustrates applicability of the proposed control approach.
- Subject
- spirals; frequency control; time-frequency analysis; trajectory; nanopositioning; imaging
- Identifier
- http://hdl.handle.net/1959.13/1385325
- Identifier
- uon:32203
- Identifier
- ISBN:9781509021826
- Language
- eng
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