Modeling and control of a novel X-Y parallel piezoelectric-actuator driven nanopositioner

- A comprehensive study on the design, modeling, controller synthesis, as well as real time implementations of a nano-servo stage.
- A novel mechatronic design of an X-Y PZT driver nano-positioner with optimized tradeoff between actuation stroke and bandwidth.
- An implementable control structure for nano-manipulations using H∞ robust control and anti-windup control schemes.
- Successful implementations of the proposed nano-positioning system with demonstrated positioning and tracking performance.

In this paper, a novel X-Y parallel piezoelectric-actuator driven nanopositioner is studied from the perspectives of design optimization, dynamical modeling, as well as controller synthesis for high precision positioning. FEM (Finite Element Method) and dynamical modeling are provided to analyze the mechatronic structure of the proposed two-dimensional nano-stage, where the system model, including the hysteresis loop, is derived analytically and further verified experimentally. A robust control architecture incorporating an H∞ controller and an anti-windup compensator is then developed to deal with the hysteresis and saturation nonlinearities of the piezoelectric actuators. Real time experiments on the nano-stage platform demonstrate good robustness, high precision positioning and tracking performance, as well as recovery speed in the presence of saturation.