标题:A Novel Dual-Observer Based Control Scheme for Nano-positioning Systems with Output Delay
作者:Wang, Xin; Wen, Xinyu; Yan, Peng
通讯作者:Yan, P;Yan, P;Yan, P
作者机构:[Wang, Xin; Yan, Peng] Shandong Univ, Sch Mech Engn, Minist Educ, Key Lab High Efficiency & Clean Mech Manufacture, Jinan 250061, Shandong, Peoples R 更多
会议名称:Chinese Automation Congress (CAC)
会议日期:NOV 30-DEC 02, 2018
来源:2018 CHINESE AUTOMATION CONGRESS (CAC)
出版年:2018
页码:3706-3711
关键词:DOBC; nano-positioning; output delay; Lyapunov stability
摘要:In this paper, a novel dual disturbance observer based control (DOBC) method is presented to achieve unknown-periodic disturbance rejection of the nano-positioning stages with output delays. In the control structure, an auxiliary observer is employed to extract the state of the disturbance, while a key information observer is developed to estimate the disturbance frequency. To stabilize the augmented system, a feedback controller is further designed, where sufficient stability conditions are derived though Lyapunov-Krasovskii functions. Simulations and real time experiments on a piezoelectric-actuated nano-positioning stage with output delay are conducted, where the disturbance frequency is well predicted for the purpose of cancellation.
收录类别:CPCI-S
资源类型:会议论文
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