کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6953933 | 1451824 | 2018 | 16 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Design and trajectory tracking control of a piezoelectric nano-manipulator with actuator saturations
ترجمه فارسی عنوان
طراحی و کنترل ردیابی مسیر نانو دستگیره پیزوالکتریک با اشباع محرک
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کلمات کلیدی
نانو دستگیره، پیگیری مسیر مدل داخلی موازی، جبران کننده ضد باد، خب بهینه سازی،
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
پردازش سیگنال
چکیده انگلیسی
This paper presents the design of an XYZ nano-manipulator as well as the model based high precision tracking control of the nano-manipulating system. Aiming at large range and high mechanical bandwidth, the proposed mechanical design employs compound bridge-type amplifiers to increase the workspace without significant drop of stiffness. To further improve the system tracking performance and avoid possible actuator saturations, a robust anti-windup tracking control architecture combining a parallel internal-model based controller and an anti-windup compensator is adopted for the trajectory tracking of the designed nano-manipulating system. As a theoretical extension on a recent result [17], we further investigate the robust stability condition of the closed-loop system and formulate the optimization design of the anti-windup compensators as a two block Hâ optimization problem solvable with the Nehari approach. Real time control experiments demonstrate excellent tracking performance and saturation compensation capability with tracking precision error less than 0.28%, which significantly outperforms relevant algorithms in the literature.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanical Systems and Signal Processing - Volume 111, October 2018, Pages 529-544
Journal: Mechanical Systems and Signal Processing - Volume 111, October 2018, Pages 529-544
نویسندگان
Pengbo Liu, Peng Yan, Hitay Ãzbay,