| Autor: |
Zhen Zhang, Peng Yan, Zeshan Lyu |
| Rok vydání: |
2015 |
| Předmět: |
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| Zdroj: |
2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE). |
| DOI: |
10.1109/sice.2015.7285350 |
| Popis: |
This paper presents an innovative method for rejecting multiple narrow-band disturbances in nano-manipulating servo systems. The proposed control scheme consists of a robust controller and a multiple optimal phase filter structure. The baseline robust controller is synthesized with mixed sensitivity optimization for the purpose of robust stability and servo performance. A novel adaptive digital multiple optimal phase filter structure is then developed with a parallel connection, such that online estimation and suppression of the narrow-band disturbances with unknown or time-varying frequencies can be achieved without sacrificing the stability robustness of the closed-loop systems. The proposed control scheme is evaluated via simulations and implemented on a piezoelectric-actuator driven nanopositioner, where high precision positioning is demonstrated in the presence of both unmodeled dynamics and multiple disturbances. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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