- Title
- A novel state transformation approach to tracking of piecewise linear trajectories
- Creator
- Bazaei, Ali; Chen, Zhiyong; Yong, Yuen Kuan; Moheimani, S. O. Reza
- Relation
- IEEE Transactions on Control Systems Technology Vol. 26, Issue 1, p. 128-138
- Publisher Link
- http://dx.doi.org/10.1109/TCST.2017.2654061
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2018
- Description
- In this paper, we propose a novel approach for tracking of piecewise linear trajectories, such as triangular and staircase waveforms. We derive state and input transformations, which result in closed-loop error dynamics driven by a series of impulses. The proposed control structure takes the form of an output-feedback-feedforward system that is straightforward to implement. In contrast to the recently proposed tracking control methods for such trajectories, the closed-loop stability is not affected by the frequency of the desired triangular reference. The method is implemented on a nanopositioner serving as the scanning stage of an atomic force microscope.
- Subject
- stability criteria; closed loop systems; bandwith; trajectory; noise measurement; nanopositioning; microscopy
- Identifier
- http://hdl.handle.net/1959.13/1409428
- Identifier
- uon:36020
- Identifier
- ISSN:1063-6536
- Language
- eng
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