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Adaptive Control with Unknown Parameters Estimation for Motion Tracking of Piezo-Driven Micromanipulator
Yulong Zhang; Qingsong Xu
2015
Conference NameIEEE International Conference on Mechatronics & Automation
Source Publication2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION
Conference Date2-5 Aug. 2015
Conference PlaceBeijing, China
Abstract

The microgripper actuated by piezoelectric actuator (PEA) is a typical micromanipulator. In order to control it to attain exact position, a good adaptiveness and robustness against disturbance should be guaranteed. However, because of the nonlinear hysteresis in the PEA and other disturbance such as drift, it is not an easy assignment to get an accurate position control. Another difficulty lies in the changes of mass, damping or stiffness. This paper proposes a solution to tackle these difficulties using sliding mode control with an adaptive law. The designed controller can guarantee the stability of micromanipulator. It also enables the system enough feasibility and robustness to resist the disturbance and the variation of uncertain parameters.

KeywordAdaptiveness Robustness Feasibility Sliding Mode Control Hysteresis Micromanipulator Nonlinear Control Piezoelectric Actuator
DOIhttp://doi.org/10.1109/ICMA.2015.7237668
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000380447600223
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Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionFaculty of Science and Technology
DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationDepartment of Electromechanical Engineering, Faculty of Science and Technology University of Macau Avenida da Universidade, Taipa, Macau, China
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Yulong Zhang,Qingsong Xu. Adaptive Control with Unknown Parameters Estimation for Motion Tracking of Piezo-Driven Micromanipulator[C],2015.
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