Advanced Control of Piezoelectric Micro-/Nano-Positioning by Qingsong Xu, Kok Kiong Tan
By Qingsong Xu, Kok Kiong Tan
This e-book explores rising tools and algorithms that allow targeted keep an eye on of micro-/nano-positioning platforms. The textual content describes 3 keep watch over recommendations: hysteresis-model-based feedforward keep watch over and hysteresis-model-free suggestions keep watch over in response to and unfastened from nation statement. every one paradigm gets devoted cognizance inside of a selected a part of the text.
Readers are proven how one can layout, validate and observe a number of new keep watch over methods in micromanipulation: hysteresis modelling, discrete-time sliding-mode regulate and model-reference adaptive keep an eye on. Experimental effects are supplied all through and increase to an in depth therapy of sensible functions within the fourth a part of the e-book. The functions specialize in keep an eye on of piezoelectric grippers.
Advanced regulate of Piezoelectric Micro-/Nano-Positioning Systems will support educational researchers and working towards regulate and mechatronics engineers attracted to suppressing resources of nonlinearity akin to hysteresis and float while combining place and strength regulate of precision structures with piezoelectric actuation.
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Extra resources for Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems
Hybrid control and impedance control, which are presented below. 1 Hybrid Control The hybrid position/force control method decomposes the task space of the endeffector into position subspace and force subspace. It allows the generation of compliant motion by controlling the end-effector position in position subspace and the interaction force in force subspace, respectively. Generally, a position control law along the force constrained directions and a force control law along the position constrained directions are designed through the use of selection matrices.
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