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Tracking performance characterization and improvement of a piezoactuated micropositioning system based on an empirical index
Xu Q.; Li Y.
2010-12-01
Source PublicationRobotics and Computer-Integrated Manufacturing
ISSN07365845
Volume26Issue:6Pages:744-752
Abstract

Motion tracking is an important problem in micropositioning systems dedicated to ultra-precision robotic micromanipulation. This paper investigates the periodic motion tracking performance of a micropositioning system based on an empirical tracking performance index (TPI), which is proposed with the consideration of both tracking errors and tracking frequencies. To improve the TPI of a micropositioning system with piezoelectric actuation, a two-loop controller consisting of an H∞ robust controller and a disturbance observer is implemented. Experimental studies are conducted on an XY parallel micropositioning system for the motion tracking tests. Results demonstrate that a sole H∞ robust controller is insufficient to produce a satisfactory tracking performance with low-frequency control. In contrast, the two-loop controller endows the system with both a lower tracking error and a better TPI than the conventional robust control does. The experimental results not only validate the effectiveness of the proposed control method in improving tracking performance but also confirm the feasibility of the TPI in quantitatively characterizing the performance of a micropositioning system. © 2010 Elsevier Ltd.

KeywordMicromanipulator Motion Control Performance Characterization Piezoelectric Actuation Robust Control System Identification
DOI10.1016/j.rcim.2010.05.001
URLView the original
Indexed BySCI
Language英语
WOS Research AreaComputer Science ; Engineering ; Robotics
WOS SubjectComputer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics
WOS IDWOS:000284663300027
Fulltext Access
Citation statistics
Cited Times [WOS]:9   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUniversidade de Macau
Recommended Citation
GB/T 7714
Xu Q.,Li Y.. Tracking performance characterization and improvement of a piezoactuated micropositioning system based on an empirical index[J]. Robotics and Computer-Integrated Manufacturing,2010,26(6):744-752.
APA Xu Q.,&Li Y..(2010).Tracking performance characterization and improvement of a piezoactuated micropositioning system based on an empirical index.Robotics and Computer-Integrated Manufacturing,26(6),744-752.
MLA Xu Q.,et al."Tracking performance characterization and improvement of a piezoactuated micropositioning system based on an empirical index".Robotics and Computer-Integrated Manufacturing 26.6(2010):744-752.
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