UM  > Faculty of Science and Technology  > DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Hysteresis modeling and compensation for an XY micropositioning stage with model reference adaptive control
Li Y.; Xu Q.
2009-12-01
Conference NameJoint 48th IEEE Conference on Decision and Control (CDC) / 28th Chinese Control Conference (CCC)
Source PublicationProceedings of the IEEE Conference on Decision and Control
Pages5580-5585
Conference DateDEC 15-18, 2009
Conference PlaceShanghai, PEOPLES R CHINA
Abstract

In this paper, a model reference adaptive controller (MRAC) is designed for a piezo-driven XY parallel micropositioning stage to compensate for the hysteresis effects aiming at a sub-micron accuracy motion tracking control. To convert the desired motion trajectory into voltage input, the inverse modified Prandtl-Ishlinskii (PI) hysteresis model is employed. The modified PI model is identified by optimizing the weight parameters through particle swarm optimization (PSO) to match the model output to experimental data. To compare with other methods, a feedforward controller based on PI model is implemented as well. The performances of MRAC and feedforward controllers are examined by extensive simulation studies. Results show that the former is superior to the latter one in terms of steady state errors especially as the increasing of input rates. Besides, the robustness of MRAC controller with rejection to external disturbances is verified as well. ©2009 IEEE.

DOI10.1109/CDC.2009.5399586
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000336893606013
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Cited Times [WOS]:3   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUniversidade de Macau
Recommended Citation
GB/T 7714
Li Y.,Xu Q.. Hysteresis modeling and compensation for an XY micropositioning stage with model reference adaptive control[C],2009:5580-5585.
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