Discrete-Time Predictive Sliding Mode Control for a Constrained Parallel Micropositioning Piezostage

Kang, Shengzheng; Wu, Hongtao; Yang, Xiaolong; Li, Yao; Yao, Jiafeng; Chen, Bai; Lu, Huimin

doi:10.1109/tsmc.2021.3062581

Cited by 42 publications

(14 citation statements)

References 32 publications

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“…Linh et al (2015) designed an MPC controller based on the non-minimal state space and used the modified BW model to compensate for the hysteresis. Kang et al (2022) combined the MPC and SMC controller to track the micro-motion parallel platform. This method ensured rapid convergence and no chattering.…”

Section: Introductionmentioning

confidence: 99%

A new composite controller for trajectory tracking control of a piezo-driven bridge displacement amplifier

Song

Kang

et al. 2023

Transactions of the Institute of Measurement and Control

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In this paper, a new composite controller (feedforward + feedback) is proposed for the trajectory tracking control of a piezo-driven bridge displacement amplifier. A hysteresis model considering dynamic effects is established based on the modified Bouc–Wen (MBW) model, which can describe the asymmetry and frequency-dependence behaviors. The effectiveness of the modified model is verified by the experimental comparison. A feedforward controller is designed to compensate for hysteresis nonlinearity based on the inverse multiplicative structure of the modified model. A feedback controller with the Kalman observer is designed based on a modified model predictive control (MMPC). The proportional term and integral term of feedback error are introduced into the MPC control law to improve the response speed and reduce the steady-state error. The proposed MBW + MMPC is compared with MBW + proportional–integral–derivative (PID), and MBW + MPC. The experimental tracking results of continuously differentiable signals and non-differentiable signals verify MBW + MMPC feasibility and show that it can improve tracking performance.

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Section: Introductionmentioning

confidence: 99%

A new composite controller for trajectory tracking control of a piezo-driven bridge displacement amplifier

Song

Kang

et al. 2023

Transactions of the Institute of Measurement and Control

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“…[8][9][10][11] In addition, to avoid the complex process of hysteresis modeling, independent feedback control methods are also widely used for tracking control of PMSs. Such methods generally treat hysteresis as an unmodeled uncertainty, and then construct a robust controller to compensate, such as sliding mode control, [12][13][14][15][16][17] iterative control, 18 and adaptive control. 19 As a simple and effective nonlinear control method, the sliding mode control (SMC) is popular because of its powerful ability to deal with uncertain problems of the system.…”

Section: Introductionmentioning

confidence: 99%

“…8–11 In addition, to avoid the complex process of hysteresis modeling, independent feedback control methods are also widely used for tracking control of PMSs. Such methods generally treat hysteresis as an unmodeled uncertainty, and then construct a robust controller to compensate, such as sliding mode control, 12–17 iterative control, 18 and adaptive control. 19…”

Section: Introductionmentioning

confidence: 99%

Robust high-precision tracking control for a class of nonlinear piezoelectric micropositioning systems with time-varying uncertainties

Kang

Bai

et al. 2023

Measurement and Control

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Piezoelectric micropositioning systems (PMSs) have been widely utilized in the high-precision manipulation applications, but are also subjected to undesired nonlinearities, like hysteresis, and parameter uncertainties. To solve this problem, this paper proposes a new robust sliding mode control scheme for a class of nonlinear PMSs with time-varying uncertainties. Different from the conventional sliding mode control (SMC), the proposed controller further combines the Fourier series-based function estimation technique, fuzzy logic system and adaptive learning algorithm to realize online estimation and compensation of system time-varying uncertainties without their boundary information. The adaptive laws of Fourier coefficients and fuzzy adjustable parameters are obtained via the Lyapunov stability theory. Compared with the existing SMC methods, the proposed control effectively eliminates the control chattering problem, and guarantees the convergence of the tracking error in finite time in the presence of time-varying uncertainties. Theoretical analysis and numerical simulation results show that the proposed control strategy can meet the high-speed, high-precision robust tracking performance requirements of PMSs for micro/nano-manipulation applications.

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“…However, the integral SMC term must be performed in the continuous‐time domain. Kang et al 12 proposed a discrete‐time predictive SMC for parallel micropositioning piezostages by combining it with receding horizon optimization. Xu et al 13 presented an output‐based digital integral terminal SMC for precision motion control of a piezoelectric‐driven positioning system.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of event‐triggered predictive sliding mode control for discrete‐time constrained system

Meng,

Zhang,

2023

Intl J Robust & Nonlinear

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This paper presents a new approach for designing an event‐triggered predictive sliding mode control (SMC) for discrete‐time systems subject to constraints. The proposed controller is based on an existing reach‐law‐based SMC, and it formulates an optimization control problem (OCP) to generate predictive control actions that satisfy both state and input constraints. An event‐triggered strategy is introduced to reduce the frequency of OCP solving by taking into account the sliding mode controller and unmeasurable states between sampling instants. The paper also analyzes the recursive feasibility of the proposed controller, which ensures the feasibility of each OCP solution. Numerical simulations and comparison studies are performed to validate the theoretical results. The proposed approach offers an effective way to design event‐triggered predictive sliding mode controllers that reduce the computational burden of OCP solving while guaranteeing the satisfaction of system constraints.

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Discrete-Time Predictive Sliding Mode Control for a Constrained Parallel Micropositioning Piezostage

Cited by 42 publications

References 32 publications

A new composite controller for trajectory tracking control of a piezo-driven bridge displacement amplifier

A new composite controller for trajectory tracking control of a piezo-driven bridge displacement amplifier

Robust high-precision tracking control for a class of nonlinear piezoelectric micropositioning systems with time-varying uncertainties

Design and analysis of event‐triggered predictive sliding mode control for discrete‐time constrained system

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