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Please use this identifier to cite or link to this item: http://hdl.handle.net/1959.13/45173
- Achieving high-bandwidth nanopositioning in presence of plant uncertainties
Aphale, Sumeet S.;
Moheimani, S. O. Reza
- The University of Newcastle. Faculty of Engineering & Built Environment, School of Electrical Engineering and Computer Science
- In the absence of plant parameter uncertainties, inversion-based feedforward techniques have been known to deliver accurate tracking performance. Due to changes in operating conditions like ambient temperature, humidity and loading, piezoelectric-stack actuated nanopositioning platforms can undergo significant changes in their system parameters. Nonlinear effects of hysteresis, an inherent property of a piezoelectric actuator, are also present; charge actuation is applied to reduce the effects of hysteresis. In this work, a suitable feedback controller that reduces the effects of parameter uncertainties is integrated with the inversion-based feedforward technique to deliver accurate nanopositioning over a large bandwidth. It is shown experimentally that by integrating closed-loop damping, inversion-based feedforward and charge actuation, the tracking bandwidth of the platform from can be increased significantly from 310 Hz to 1320 Hz.
- 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Xi'an, China 2-5 July, 2008) p. 943-948
- Publisher Link
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
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