ORCID Profile
0000-0002-2394-3322
Current Organisations
University of Aberdeen
,
Universidad de Castilla-La Mancha
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Publisher: IEEE
Date: 07-2015
Publisher: IEEE
Date: 09-2015
Publisher: Springer Singapore
Date: 2017
Publisher: Elsevier BV
Date: 11-2018
DOI: 10.1016/J.ISATRA.2017.09.022
Abstract: By exploiting the co-located sensor-actuator arrangement in typical flexure-based piezoelectric stack actuated nanopositioners, the polezero interlacing exhibited by their axial frequency response can be transformed to a zero-pole interlacing by adding a constant feed-through term. The Integral Resonant Control (IRC) utilizes this unique property to add substantial d ing to the dominant resonant mode by the use of a simple integrator implemented in closed loop. IRC used in conjunction with an integral tracking scheme, effectively reduces positioning errors introduced by modelling inaccuracies or parameter uncertainties. Over the past few years, successful application of the IRC control technique to nanopositioning systems has demonstrated performance robustness, easy tunability and versatility. The main drawback has been the relatively small positioning bandwidth achievable. This paper proposes a fractional order implementation of the classical integral tracking scheme employed in tandem with the IRC scheme to deliver d ing and tracking. The fractional order integrator introduces an additional design parameter which allows desired pole-placement, resulting in superior closed loop bandwidth. Simulations and experimental results are presented to validate the theory. A 250% improvement in the achievable positioning bandwidth is observed with proposed fractional order scheme.
Publisher: Elsevier BV
Date: 07-2017
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2019
Publisher: Elsevier BV
Date: 08-2019
DOI: 10.1016/J.ISATRA.2019.01.028
Abstract: The fast and accurate tracking of periodic and arbitrary reference trajectories is the principal goal in many nanopositioning applications. Flexure-based piezoelectric stack driven nanopositioners are widely employed in applications where accurate mechanical displacements at these nanometer scales are required. The performance of these nanopositioners is limited by the presence of lightly d ed resonances in their dynamic response and actuator nonlinearities. Closed-loop control techniques incorporating both d ing and tracking are typically used to address these limitations. However, most tracking schemes employed use a first-order integrator where a triangular trajectory commonly used in nanopositioning applications necessitates a double integral for zero-error tracking. The phase margin of the d ed system combined with the hardware-induced delay deem the implementation of a double-integrator unstable. To overcome this limitation, this paper presents the design, analysis and application of a new control scheme based on the structure of the traditional Two-Degrees-of-Freedom PID controller (2DOF-PID). The proposed controller replaces the integral action of the traditional 2DOF-PID with a double integral action (2DOF-PI
Publisher: Frontiers Media SA
Date: 03-2016
Publisher: IOP Publishing
Date: 11-06-2015
Location: United Kingdom of Great Britain and Northern Ireland
Location: Spain
No related grants have been discovered for Andres San-Millan Rodriguez.