A disturbance observer-based adaptive control approach for flexure beam nano manipulators |
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| Affiliation: | 1. Department of Electrical and Computer Engineering, Concordia University, Montreal, Quebec, H3G-1M8, Canada;7. Department of Electrical and Computer Engineering, Concordia University, Montreal, Quebec, H3G-1M8, Canada;1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;2. School of Engineering, University of Warwick, Coventry CV4 7DL, UK;3. Robotics and Mechantronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, VIC 3800, Australia |
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| Abstract: | This paper presents a systematic modeling and control methodology for a two-dimensional flexure beam-based servo stage supporting micro/nano manipulations. Compared with conventional mechatronic systems, such systems have major control challenges including cross-axis coupling, dynamical uncertainties, as well as input saturations, which may have adverse effects on system performance unless effectively eliminated. A novel disturbance observer-based adaptive backstepping-like control approach is developed for high precision servo manipulation purposes, which effectively accommodates model uncertainties and coupling dynamics. An auxiliary system is also introduced, on top of the proposed control scheme, to compensate the input saturations. The proposed control architecture is deployed on a customized-designed nano manipulating system featured with a flexure beam structure and voice coil actuators (VCA). Real time experiments on various manipulating tasks, such as trajectory/contour tracking, demonstrate precision errors of less than 1%. |
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| Keywords: | Adaptive control Disturbance observer Tracking control Nano servo systems Input saturation |
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