Since the piezoelectric actuators have the disadvantages of small travel and hysteretic behavior, a long range friction actuating mechanism was designed. The piezoelectric material is used to generate high frequency oscillation for actuating a finger tip which contacted with a slide to induce the back and forth motion. The LuGre friction model is chosen to simulate the dynamics of this friction actuating mechanism. However, this piezoelectric actuating system has obvious nonlinear and time-varying dead-zone offset control voltage due to the static friction and preload. It is difficulty to establish an accurate dynamic model for model-based precision control design. Hence, the functional approximation (FA) scheme is employed to compensate the system modeling error. The Laypunov-like design strategy is adopted to derive the adaptive laws and the system stability criterion. Different trajectories tracking control are planned to investigate the motion control performance and the steady state error of this adaptive controller. The dynamic experimental results of the proposed controller are compared with that of a model-based PID controller.
Skip Nav Destination
ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
July 12–14, 2010
Istanbul, Turkey
Conference Sponsors:
- International
ISBN:
978-0-7918-4919-4
PROCEEDINGS PAPER
LuGre Friction Model Based Adaptive Control With Functional Approximation Compensation for a Piezoelectric-Actuating Table Available to Purchase
Shiuh-Jer Huang,
Shiuh-Jer Huang
National Taiwan University of Science and Technology, Taipei, Taiwan
Search for other works by this author on:
Kuan-Lian Her,
Kuan-Lian Her
National Taiwan University of Science and Technology, Taipei, Taiwan
Search for other works by this author on:
Su-Hai Hsiang
Su-Hai Hsiang
National Taiwan University of Science and Technology, Taipei, Taiwan
Search for other works by this author on:
Shiuh-Jer Huang
National Taiwan University of Science and Technology, Taipei, Taiwan
Kuan-Lian Her
National Taiwan University of Science and Technology, Taipei, Taiwan
Su-Hai Hsiang
National Taiwan University of Science and Technology, Taipei, Taiwan
Paper No:
ESDA2010-24247, pp. 67-74; 8 pages
Published Online:
December 28, 2010
Citation
Huang, S, Her, K, & Hsiang, S. "LuGre Friction Model Based Adaptive Control With Functional Approximation Compensation for a Piezoelectric-Actuating Table." Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 5. Istanbul, Turkey. July 12–14, 2010. pp. 67-74. ASME. https://doi.org/10.1115/ESDA2010-24247
Download citation file:
11
Views
Related Proceedings Papers
Related Articles
Pulse Width Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction
J. Dyn. Sys., Meas., Control (March,2004)
High Performance Motion Tracking Control for Electronic Manufacturing
J. Dyn. Sys., Meas., Control (November,2007)
A New Approach to Scan-Trajectory Design and Track: AFM Force Measurement Example
J. Dyn. Sys., Meas., Control (September,2008)
Related Chapters
Research on Autobody Panels Developmental Technology Based on Reverse Engineering
International Conference on Advanced Computer Theory and Engineering, 5th (ICACTE 2012)
Auto-Tuning Method of PIDA Controller Based Ongain Margin and Phase Margin
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Simulation of Fast Trimaran Seakeeping Amelioration Using T-foil
International Conference on Computer Technology and Development, 3rd (ICCTD 2011)