Open AccessPiezoelectric positioning control with output‐based discrete‐time terminal sliding mode control
Author(s) -
Xu Qingsong,
Cao Zhenwei
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2016.0956
Subject(s) - control theory (sociology) , terminal sliding mode , sliding mode control , terminal (telecommunication) , control (management) , mode (computer interface) , piezoelectricity , computer science , control engineering , discrete time and continuous time , engineering , mathematics , physics , artificial intelligence , nonlinear system , statistics , quantum mechanics , electrical engineering , telecommunications , operating system
Nanopositioning systems with piezoelectric actuation have found extensively applications in micro‐/nanomanipulation domain. This paper reports on the design, realisation and testing of a new output‐based discrete‐time terminal sliding mode control (DTSMC) scheme, which is applied to achieve precision motion control of a piezoelectric nanopositioning system by overcoming the unmolded non‐linearity and disturbance. The controller is easy to implement because it does not require a hysteresis model and a state observer. It is able to deliver a precise tracking without chattering phenomenon. The stability of the control system is proved and the effectiveness of the control scheme is demonstrated through experimental studies. Results show that the non‐linear DTSMC robust control is superior to the conventional linear discrete‐time sliding‐mode control in motion tracking application. The DTSMC enables the generation of a larger bandwidth than the conventional approaches. Moreover, the DTSMC endows the system a well robustness feature in the presence of model uncertainty and external disturbances.