access icon free Piezoelectric positioning control with output-based discrete-time terminal sliding mode control

© The Institution of Engineering and Technology
Received 16/07/2016, Accepted 25/12/2016, Revised 17/11/2016, Published 05/01/2017

Nanopositioning systems with piezoelectric actuation have found extensively applications in micro-/nanomanipulation domain. This paper reports on the design, realisation and testing of a new output-based discrete-time terminal sliding mode control (DTSMC) scheme, which is applied to achieve precision motion control of a piezoelectric nanopositioning system by overcoming the unmolded non-linearity and disturbance. The controller is easy to implement because it does not require a hysteresis model and a state observer. It is able to deliver a precise tracking without chattering phenomenon. The stability of the control system is proved and the effectiveness of the control scheme is demonstrated through experimental studies. Results show that the non-linear DTSMC robust control is superior to the conventional linear discrete-time sliding-mode control in motion tracking application. The DTSMC enables the generation of a larger bandwidth than the conventional approaches. Moreover, the DTSMC endows the system a well robustness feature in the presence of model uncertainty and external disturbances.

Inspec keywords: uncertain systems; piezoelectric actuators; micropositioning; motion control; discrete time systems; robust control; nanopositioning; variable structure systems; nonlinear control systems

Other keywords: external disturbances; nanopositioning systems; output-based discrete-time terminal sliding mode control; piezoelectric actuation; model uncertainty; nonlinear DTSMC robust control; micro-nanomanipulation domain; piezoelectric positioning control; conventional linear discrete-time sliding-mode control; precision motion control; motion tracking application; stability; robustness feature

Subjects: Discrete control systems; Microactuators; Electric actuators and final control equipment; Stability in control theory; Spatial variables control; Nonlinear control systems; Multivariable control systems

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