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首页> 外文期刊>Mechanical systems and signal processing >Design and trajectory tracking control of a piezoelectric nano-manipulator with actuator saturations
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Design and trajectory tracking control of a piezoelectric nano-manipulator with actuator saturations

机译：具有致动器饱和的压电纳米操纵器的设计和轨迹跟踪控制

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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 , 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 blockH∞optimization problem solvable with the Nehari approach. Real time control experiments demonstrate excellent tracking performance and saturation compensation capability with tracking precision error less than0.28%, which significantly outperforms relevant algorithms in the literature.
机译：本文介绍了XYZ纳米操纵器的设计以及基于模型的纳米操纵系统的高精度跟踪控制。针对大范围和高机械带宽，提出的机械设计采用复合桥式放大器来增加工作空间，而不会显着降低刚度。为了进一步提高系统跟踪性能并避免可能的执行器饱和，采用了鲁棒的抗饱和跟踪控制结构，该结构结合了基于并行内部模型的控制器和抗饱和补偿器，用于设计的纳米操纵系统的轨迹跟踪。作为对最近结果的理论扩展，我们进一步研究了闭环系统的鲁棒稳定性条件，并将抗饱和补偿器的优化设计公式化为可通过Nehari方法解决的两个H∞优化问题。实时控制实验证明了优异的跟踪性能和饱和补偿能力，跟踪精度误差小于0.28％，大大优于文献中的相关算法。

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