Delay-varying repetitive control with application to a walking piezo actuator

Merry, Rje Roel; Kessels, D. J.; Heemels, W.P.M.H.; Molengraft, René van de; Steinbuch, M Maarten

doi:10.1016/j.automatica.2011.02.044

Cited by 29 publications

(15 citation statements)

References 14 publications

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“…Although existing work on robust RC has dealt with both uncertainties in the signal period [30,17,31,32] and the plant [7,33,34,35], such works are not immediately applicable since this work considers a known reference period, and the chosen structure of the overall control scheme and type of uncertainty differs from what has been previously studied. A tuning method to ensure robust stability for the RC scheme is therefore proposed.…”

Section: Outlinementioning

confidence: 99%

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Low-order continuous-time robust repetitive control: Application in nanopositioning

2015

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A low-order repetitive control (RC) design in continuous-time for nanopositioning applications is presented. It focuses on achieving high performance and sufficient robustness to uncertainties. The design is mainly applicable to analog implementation, but due to the exceptionally low order, it also results in a fast and efficient digital implementation. Experimental results for an analog implementation using a bucket brigade device (BBD), as well as a digital implementation, is presented. RC can provide fast and accurate tracking of periodic reference signals, which is useful in many scanning probe microscopy and nanofabrication applications.

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Section: Outlinementioning

confidence: 99%

“…Recently, RC has been introduced for nanopositioning systems [16,17,18,19]. For periodic references, due to the invariance to changes in plant dynamics, RC can address the challenges posed by state-of-the-art mechanically stiff nanopositioner-designs.…”

Section: Introductionmentioning

confidence: 99%

Low-order continuous-time robust repetitive control: Application in nanopositioning

2015

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“…The proposed control system used position feedback strategy. Delay varying repetitive control was introduced in [18] and utilized for positioning control of a stage driven by a walking piezoelectric motor. Adaptive control of the Piezo LEGS motor was in the focus of the authors in [19].…”

Section: Introductionmentioning

confidence: 99%

Force control of piezoelectric walker

Uzunović

Golubovic²,

Şabanoviç

2016

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society

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Abstract-This paper is concerned with the force control of a walking piezoelectric motor, a commercially available Piezo LEGS motor. The motor is capable of providing high precision positioning control on nanometer scale, but also relatively high forces up to 6 N. The proposed force control algorithm is very simple, but effective, and it is based on a recently presented coordinate transformation. The transformation allows definition of the driving waveforms for the motor according to a desired motion of the motor legs in the plane of motion. Such a possibility opens a path for creating the y-direction interaction force between the motor legs and the rod which is enough to ensure no relative motion between the legs and the rod. Once that is achieved, one can control the x-direction force imposed by the motor rod on its environment. The presented force control scheme has been successfully validated through a series of experiments.

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“…That approach was further discussed in [16]. Delay varying repetitive control was used in [17] for position control of nanomotion stage driven by a walking piezo motor. In [18], position control of a nanorobotic cell with parameter adaptation is discussed.…”

Section: Introductionmentioning

confidence: 99%

Piezo LEGS Driving Principle Based on Coordinate Transformation

Uzunović

Golubovic

Şabanoviç

2015

IEEE/ASME Trans. Mechatron.

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This paper offers a new approach for specifying the waveforms of driving voltages for a Piezo LEGS motor. A novel idea of coordinate transformation to define the waveforms of driving voltages, based on the motor static model, is presented. This transformation defines driving voltages according to the desired motion of the motor legs in the x-and y-directions. The approach allows a user to first define force acting on the motor rod in the ydirection and define the rod's x-direction trajectory profile. Waveforms of the driving voltages are subsequently defined to meet these requirements. The proposed approach also enables the possibility of defining the desired step shape for the motor and, according to that definition, producing driving voltages. Based on the given coordinate transformation, a simple method for Piezo LEGS motor control, identified as virtual time control, is presented. This method results in overshoot-free high precision positioning.

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Delay-varying repetitive control with application to a walking piezo actuator

Cited by 29 publications

References 14 publications

Low-order continuous-time robust repetitive control: Application in nanopositioning

Low-order continuous-time robust repetitive control: Application in nanopositioning

Force control of piezoelectric walker

Piezo LEGS Driving Principle Based on Coordinate Transformation

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