A novel state transformation approach to tracking of piecewise linear trajectories

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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