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Adaptive sliding mode control of a piezo-actuated bilateral teleoperated micromanipulation system

Motamedi, M ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1016/j.precisioneng.2010.11.006
  3. Abstract:
  4. Piezoelectric actuators are widely used in micro manipulation applications. However, hysteresis nonlinearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as the slave manipulator of a teleoperation system based on a sliding mode controller. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. The presented approach requires full state and force measurements at both the master and slave sides. Such a system is costly and also difficult to implement. Therefore, sliding mode unknown input observer (UIO) is proposed for full state and force estimations. Furthermore, the effects of uncertainties in the constant parameters on the estimated external forces should be eliminated. So, a robust adaptive controller is proposed and its stability is guaranteed through the Lyapunov criterion. Performance of the proposed control architecture is verified through experiments
  5. Keywords:
  6. Adaptive sliding mode ; Micro-telemanipulation ; Piezoelectric actuators ; Unknown input observer ; Actuator hysteresis ; Adaptive sliding mode control ; Constant parameters ; Control architecture ; External force ; Feed-Forward ; Force estimation ; Hysteresis nonlinearity ; Lyapunov criterion ; Micro manipulation ; Micro manipulation systems ; Nano-stage ; Non-Linearity ; Prandtl-Ishlinskii model ; Robust adaptive controller ; Slave manipulators ; Sliding mode controller ; Sliding modes ; Teleoperated ; Teleoperation systems ; Adaptive control systems ; Controllers ; Hysteresis ; Micromanipulators ; Observability ; Piezoelectricity ; Sliding mode control ; Uncertainty analysis
  7. Source: Precision Engineering ; Volume 35, Issue 2 , 2011 , Pages 309-317 ; 01416359 (ISSN)
  8. URL: http://www.sciencedirect.com/science/article/pii/S0141635910001777