标题：Modified ADRC with composite nonlinear feedback for a piezoelectric-actuator driven nano-manipulating stage
作者：Sun, Yuqiong ;Yan, Peng
作者机构：[Sun, Yuqiong ;Yan, Peng ] Key Laboratory of High-efficiency and Clean Mechanical Manufacture, Ministry of Education, School of Mechanical Engineering 更多
会议名称：35th Chinese Control Conference, CCC 2016
会议日期：27 July 2016 through 29 July 2016
来源：Chinese Control Conference, CCC
关键词：active disturbance rejection control (ADRC); composite nonlinear feedback controller (CNFC); extended state observer (ESO); Micro/nano-manipulating system
摘要：In this paper, a modified active disturbance rejection control (ADRC) structure composed of a linear extended state observer (LESO) and a composite nonlinear feedback controller (CNFC) is developed to improve the transient performance of the micro/nano-manipulating systems. In particular, the controller adopts the LESO to estimate the 'total disturbance' and then compensates it through the CNFC. The linear feedback part is designed with a small damping ratio such that the closed-loop system yields a fast response. The nonlinear feedback controller composed of the specific structure of the augmented system is exploited to eliminate the overshoot of the closed-loop system as the system output approaches the target reference. The proposed control architecture is deployed on a customize-designed nano-stage driven by a piezoelectric (PZT) actuator, where real time experiments demonstrate good transient performance and stead-state accuracy in high precision positioning. © 2016 TCCT.