Chunlin Zhou

Bio: Chunlin Zhou is an academic researcher from Zhejiang University. The author has contributed to research in topics: Adaptive control & Hysteresis. The author has an hindex of 1, co-authored 1 publications receiving 3 citations.

A Survey on Modelling and Compensation for Hysteresis in High Speed Nanopositioning of AFMs: Observation and Future Recommendation

Abstract: This paper surveys the recent advances on the modeling and control of hysteresis of piezoelectric actuators (PTAs) in the context of high precision applications of atomic force microscopes (AFMs). The current states, findings, and outcomes on hysteresis modeling and control in terms of achievable bandwidth and accuracy are discussed in detailed. Future challenges and the scope of possible research are presented to pave the way to video rate atomic force microscopy.

Tracking Control of Piezoelectric Stack Actuator Using Modified Prandtl–Ishlinskii Model

Abstract: This paper presents the development of Prandtl–Ishlinskii hysteresis model and tracking control of piezoelectric stack actuator with severe hysteresis. Classic Prandtl–Ishlinskii model which is a linearly weighted superposition of many backlash operators with different threshold and weight values, inherits the symmetry property of the backlash operator at about the center point of the loop formed by the operator. To describe the asymmetric hysteresis of piezoelectric stack actuators, two sets of weighting parameters are proposed to modify the weight values of backlash operators in the ascending and descending branches. Hence, two weight values correspond to one operator. Each pair of the weight values slides smoothly from one to another when the output of their corresponding operator is at a desired threshold. A feedforward controller was designed based on the modified model, which can precisely describe the inverse of the hysteresis. Then the modified model and the hysteresis of the piezoelectric stack actuator cancelled each other. A feedback controller was design to compensate for actuator creep. Different types of signal are used to test the feedforward and feedback controllers. The results show that the proposed hysteresis control scheme which combines feedforward and feedback controllers greatly improves the tracking accuracy of the piezoelectric actuator and the error is less than 0.15 μm.© 2011 ASME

Adaptive Control of a Tendon-Driven Manipulator for Capturing Non-Cooperative Space Targets

Abstract: Orbital debris in Earth orbit poses a threat to the future of spaceflight. To combat this issue, this paper proposes a novel robotic mechanism for non-cooperative capture and active servicing missi...

Adaptive Control of a Tendon-Driven Manipulator for Capturing Non-Cooperative Space Targets

Abstract: Orbital debris in Earth orbit poses a threat to the future of spaceflight. To combat this issue, this paper proposes a novel robotic mechanism for non-cooperative capture and active servicing missions on non-cooperative targets; specifically, a tendon-driven manipulator is assumed for this work. The capture mechanism is a prototype symmetric two-link gripper driven by an open-ended cable-sheath transmission mechanism. Because the cable-sheath transmission mechanism is a nonlinear time-varying hysteretic system, two separate adaptive control strategies were compared against the uncontrolled and proportional-integral-derivative controlled performance of the closed-loop gripper. Specifically, an indirect control method and a direct controller were employed. Experimental results demonstrate that the adaptive controllers show better tracking performance of a joint trajectory over the proportional-integral-derivative controlled and uncontrolled cases, whereas the controller performs best under dynamic conditions, and the indirect controller performs best in steady state.