Piezoactuators exhibit hysteresis and dynamic effects which often cause significant positioning error in a wide variety of motion control applications, especially in applications where the reference trajectory is periodic in time, such as the raster motion in scanning probe microscopy. A feedback-based approach known as repetitive control (RC) is well-suited to track periodic reference trajectories and/or to reject periodic disturbances. However, when an RC is designed with a linear dynamics model and subsequently applied to a system with hysteresis, stability and good tracking performance may not be guaranteed. In this work, the effect of hysteresis on the closed-loop stability of RC is analyzed. In the analysis, the hysteresis effect is represented by the Prandtl-Ishlinskii hysteresis model. Using this model, stability conditions are provided for an RC designed for piezoelectric actuators which commonly exhibit hysteresis. The approach is applied to a custom-designed piezo-driven nanopositioner for tracking periodic trajectories.
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ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
September 18–21, 2011
Scottsdale, Arizona, USA
Conference Sponsors:
- Aerospace Division
ISBN:
978-0-7918-5472-3
PROCEEDINGS PAPER
Repetitive Control Design for Piezoelectric Actuators Available to Purchase
Yingfeng Shan,
Yingfeng Shan
University of Nevada, Reno, Reno, NV
Search for other works by this author on:
Kam K. Leang
Kam K. Leang
University of Nevada, Reno, Reno, NV
Search for other works by this author on:
Yingfeng Shan
University of Nevada, Reno, Reno, NV
Kam K. Leang
University of Nevada, Reno, Reno, NV
Paper No:
SMASIS2011-4976, pp. 89-95; 7 pages
Published Online:
February 7, 2012
Citation
Shan, Y, & Leang, KK. "Repetitive Control Design for Piezoelectric Actuators." Proceedings of the ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, Volume 2. Scottsdale, Arizona, USA. September 18–21, 2011. pp. 89-95. ASME. https://doi.org/10.1115/SMASIS2011-4976
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