Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsingular terminal sliding mode control

Abstract

A novel robust controller is proposed in this study to realize the precise motion control of a cell puncture mechanism (CPM) driven by piezoelectric ceramics (PEAs). The entire dynamic model of CPM is constructed based on the Bouc-Wen model, and the nonlinear part of the dynamic model is optimized locally to facilitate the construction of a robust controller. A model-based, nonlinear robust controller is constructed using time-delay estimation (TDE) and fractional-order nonsingular terminal sliding mode (FONTSM). The proposed controller does not require prior knowledge of unknown disturbances due to its real-time online estimation and compensation of unknown terms by using the TDE technology. The controller also has finite-time convergence and high-precision trajectory tracking capabilities due to FONTSM manifold and fast terminal sliding mode-type reaching law. The stability of the closed-loop system is proved by Lyapunov stability theory. Computer simulation and hardware-in-loop simulation experiments of CPM verify that the proposed controller outperforms traditional terminal sliding mode controllers, such as the integer-order or model-free controller. The proposed controller can also continuously output without chattering and has high control accuracy. Zebrafish embryo is used as a verification target to complete the cell puncture experiment. From the engineering application perspective, the proposed control strategy can be effectively applied in a PEA-driven CPM.

Practical tracking control of piezoelectric actuators with time-delay estimation and nonsingular terminal sliding mode

“…The control system achieves linearization of the input and output by accurately tracking the desired displacement. Traditional root mean square error (RMSE) and maximum error (ME) [27] are used to evaluate the different controllers. Thereafter, the characteristics and performance of each controller can be quantitatively compared.…”

Parameter identification of Duhem model based on antlion-fish swarm hybrid algorithm and robust backstepping sliding mode control for rate-dependent hysteresis of piezoelectric actuators

“…Therefore, it is necessary to establish an accurate inverse model. Based on the inverse function theorem, the inverse model of Duhem model can be expressed as equations ( 9) and (10):…”

“…Among rate-independent hysteresis models, the classical and commonly used models include Preisach model, 6 PI (Prandtl-Ishlinskii) model, 7,8 KP (krasonsel’skii-Pokrovskii) model 9 and so on. While rate-dependent hysteresis models include Bouc-wen model, 10,11 Duhem model, 12 and so on. Preisach model is a typical hysteresis model, which reflects the hysteresis nonlinearity by the weighted superposition of hysteresis operators.…”

A novel fixed‐time fractional order nonsingular terminal sliding mode control

“…Secondly, a is proposed in this paper to measure external disturbances. While Yu et al [36] adopted TDE strategy, which need more information of all system states. In contrast, the proposed observer scheme in this paper need less information about system states.…”