标题：A Novel Dual-Observer Based Control Scheme for Nano-positioning Systems with Output Delay
作者：Wang, Xin ;Wen, Xinyu ;Yan, Peng
作者机构：[Wang, X] Key Laboratory of High-efficiency and Clean Mechanical Manufacture Ministry of Education, School of Mechanical Engineering, Shandong Univers 更多
会议名称：2018 Chinese Automation Congress, CAC 2018
会议日期：30 November 2018 through 2 December 2018
来源：Proceedings 2018 Chinese Automation Congress, CAC 2018
关键词：DOBC; Lyapunov stability; nano-positioning; output delay
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. © 2018 IEEE.