Modeling and Control of Piezo-Actuated Nanopositioning Stages: A Survey
01 Jan 2016-IEEE Transactions on Automation Science and Engineering (IEEE)-Vol. 13, Iss: 1, pp 313-332
TL;DR: The progresses of different modeling and control approaches for piezo-actuated nanopositioning stages are discussed and new opportunities for the extended studies are highlighted.
Abstract: Piezo-actuated stages have become more and more promising in nanopositioning applications due to the excellent advantages of the fast response time, large mechanical force, and extremely fine resolution. Modeling and control are critical to achieve objectives for high-precision motion. However, piezo-actuated stages themselves suffer from the inherent drawbacks produced by the inherent creep and hysteresis nonlinearities and vibration caused by the lightly damped resonant dynamics, which make modeling and control of such systems challenging. To address these challenges, various techniques have been reported in the literature. This paper surveys and discusses the progresses of different modeling and control approaches for piezo-actuated nanopositioning stages and highlights new opportunities for the extended studies.
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TL;DR: Important characteristics and considerations in the selection, design, and implementation of various prominent and unique robotic artificial muscles for biomimetic robots are discussed, and perspectives on next-generation muscle-powered robots are provided.
Abstract: Robotic artificial muscles are a subset of artificial muscles that are capable of producing biologically inspired motions useful for robot systems, i.e., large power-to-weight ratios, inherent compliance, and large range of motions. These actuators, ranging from shape memory alloys to dielectric elastomers, are increasingly popular for biomimetic robots as they may operate without using complex linkage designs or other cumbersome mechanisms. Recent achievements in fabrication, modeling, and control methods have significantly contributed to their potential utilization in a wide range of applications. However, no survey paper has gone into depth regarding considerations pertaining to their selection, design, and usage in generating biomimetic motions. In this paper, we discuss important characteristics and considerations in the selection, design, and implementation of various prominent and unique robotic artificial muscles for biomimetic robots, and provide perspectives on next-generation muscle-powered robots.
202 citations
Cites methods from "Modeling and Control of Piezo-Actua..."
...To characterize creep, both linear and nonlinear models have been developed [66]....
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TL;DR: Wang et al. as mentioned in this paper proposed a continuous third-order integral terminal sliding mode control (3-ITSMC) strategy dedicated to motion tracking control of a piezoelectric-driven nanopositioning system.
Abstract: This paper presents the design and testing of a novel continuous third-order integral terminal sliding mode control (3-ITSMC) strategy dedicated to motion tracking control of a piezoelectric-driven nanopositioning system. In comparison with the available sliding mode controllers, the significant improvement of the proposed controller lies in the fact that it completely eliminates the chattering effect, achieves a finite-time convergence, and produces a higher sliding mode precision. The model uncertainty involving the hysteresis effect is estimated by the perturbation estimation technique. Higher order derivatives of the position are generated by using a robust exact differentiator. Based on an integral terminal type of sliding surface, a third-order sliding mode precision is obtained by resorting to the third-order supertwisting algorithm. The convergence and stability have been proved in theory. The performance improvement of the developed controller versus the conventional second-order and third-order sliding mode controllers is validated by carrying out both simulation and experimental studies. Results demonstrate that the proposed 3-ITSMC controller provides quicker transient response speed and smaller steady-state error for the piezoelectric nanopositioning system along with a better robustness against model uncertainty and external disturbance.
135 citations
Cites background from "Modeling and Control of Piezo-Actua..."
...A state-of-the-art survey is presented in recent work [9]....
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TL;DR: This paper presents a detailed experimental investigation probing the voltage-induced electromechanical response of a soft DEA that is subjected to cyclic loading and proposes a general constitutive modeling approach to characterize the time-dependent response, based on the principles of nonequilibrium thermodynamics.
Abstract: Soft dielectric elastomer actuators (DEAs) exhibit interesting muscle-like behavior for the development of soft robots. However, it is challenging to model these soft actuators due to their material nonlinearity, nonlinear electromechanical coupling, and time-dependent viscoelastic behavior. Most recent studies on DEAs focus on issues of mechanics, physics, and material science, while much less importance is given to quantitative characterization of DEAs. In this paper, we present a detailed experimental investigation probing the voltage-induced electromechanical response of a soft DEA that is subjected to cyclic loading and propose a general constitutive modeling approach to characterize the time-dependent response, based on the principles of nonequilibrium thermodynamics. In this paper, some of the key observations are found as follows: 1) Creep exhibits the drift phenomenon, and is dominant during the first three cycles. The creep decreases over time and becomes less dominant after the first few cycles; 2) a significant amount of hysteresis is observed during all cycles and it becomes repeatable after the first few cycles; 3) the peak of the displacement is shifted from the peak of the voltage signal and occurs after it. To account for these viscoelastic phenomena, a constitutive model is developed by employing several dissipative nonequilibrium mechanisms. The quantitative comparisons of the experimental and simulation results demonstrate the effectiveness of the developed model. This modeling approach can be useful for control of a viscoelastic DEA and paves the way to emerging applications of soft robots.
129 citations
TL;DR: In this article, a piezoelectric actuated compliant micro gripper was designed to get a large jaw motion stroke, and a three-stage flexure-based amplification composed of the homothetic bridge and leverage mechanisms was developed and the key structure parameters were optimized.
Abstract: The design and control of a novel piezoelectric actuated compliant microgripper is studied in this paper to achieve fast, precise, and robust micro grasping operations. First, the microgripper mechanism was designed to get a large jaw motion stroke. A three-stage flexure-based amplification composed of the homothetic bridge and leverage mechanisms was developed and the key structure parameters were optimized. The microgripper was manufactured using the wire electro discharge machining technique. Finite element analysis and experimental tests were carried out to examine the performance of the microgripper mechanism. The results show that the developed microgripper has a large amplification factor of 22.6. Dynamic modeling was conducted using experimental system identification, and the displacement and force transfer functions were obtained. The position/force switching control strategy was utilized to realize both precision position tracking and force regulation. The controller composed of an incremental proportional-integral-derivative control and a discrete sliding mode control with exponential reaching law was designed based on the dynamic models. Experiments were performed to investigate the control performance during micro grasping process, and the results show that the developed compliant microgripper exhibits good performance, and fast and robust grasping operations can be realized using the developed microgripper and controller.
126 citations
Cites background from "Modeling and Control of Piezo-Actua..."
...Several advanced control theories, including the adaptive robust control [26], iterative learning control [27], and neural networks control [28], were proposed to control precision positioning systems [29]–[31]....
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TL;DR: Results show that it is superior to pure proportional–integral (PI) controller and even PI controller combined with inverse compensator in the sense that the root mean square, relative, as well as maximal absolute errors of output tracking have been decreased remarkably within five iterations.
Abstract: Rate-dependent hysteretic nonlinearity, which is an inherent characteristic of piezoelectric actuators (PEAs), causes a significant challenge in precise motion control of piezoelectric nanopositioning stages. In this paper, by assuming that the model of PEA takes a Hammerstein structure, a novel control strategy that combines iterative learning control (ILC) and the direct inverse of hysteresis is proposed to compensate for both nonlinearities and uncertainties of system simultaneously. Different from those existing direct inverse compensation methods whose control performance highly relies on the accuracy of the hysteresis model, the proposed control strategy is more robust by adding an additional ILC loop. Since ILC is essentially a feedforward control scheme that fully utilizes the input and output information in previous iterations, the tracking precision can be improved promptly in the iteration domain. Comparative experiments are performed to test the efficacy of the proposed algorithm for polynomial, triangular, and step signals. Results show that it is superior to pure proportional–integral (PI) controller and even PI controller combined with inverse compensator in the sense that the root mean square, relative, as well as maximal absolute errors of output tracking have been decreased remarkably within five iterations.
125 citations
Cites background from "Modeling and Control of Piezo-Actua..."
...2826450 control system severely, owing to the fact that the hysteretic nonlinearity is rate-dependent [4]....
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References
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TL;DR: It is seen that many PID variants have been developed in order to improve transient performance, but standardising and modularising PID control are desired, although challenging, and the inclusion of system identification and "intelligent" techniques in software based PID systems helps automate the entire design and tuning process to a useful degree.
Abstract: Designing and tuning a proportional-integral-derivative (PID) controller appears to be conceptually intuitive, but can be hard in practice, if multiple (and often conflicting) objectives such as short transient and high stability are to be achieved. Usually, initial designs obtained by all means need to be adjusted repeatedly through computer simulations until the closed-loop system performs or compromises as desired. This stimulates the development of "intelligent" tools that can assist engineers to achieve the best overall PID control for the entire operating envelope. This development has further led to the incorporation of some advanced tuning algorithms into PID hardware modules. Corresponding to these developments, this paper presents a modern overview of functionalities and tuning methods in patents, software packages and commercial hardware modules. It is seen that many PID variants have been developed in order to improve transient performance, but standardising and modularising PID control are desired, although challenging. The inclusion of system identification and "intelligent" techniques in software based PID systems helps automate the entire design and tuning process to a useful degree. This should also assist future development of "plug-and-play" PID controllers that are widely applicable and can be set up easily and operate optimally for enhanced productivity, improved quality and reduced maintenance requirements.
2,461 citations
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01 Jan 1986TL;DR: A new approach to the scalar Preisach model of hysteresis, which emphasizes its phenomenological nature and mathematical generality, is described in this paper, which gives the necessary and sufficient conditions for the representation of actual hystresis nonlinearities by the scalareach model.
Abstract: A new approach to the scalar Preisach model of hysteresis, which emphasizes its phenomenological nature and mathematical generality, is described. The theorem, which gives the necessary and sufficient conditions for the representation of actual hysteresis nonlinearities by the scalar Preisach model, is reported. The significance of this theorem is that it establishes the limits of applicability of Preisach's model regardless of the physical nature of hysteresis. Then, the vector Preisach models are formulated and some basic properties of these models are briefly summarized. Numerical implementations of Preisach's models are discussed and some computational results are given.
2,288 citations
TL;DR: In this paper, a mathematical model of the hysteresis mechanisms in ferromagnets is presented based on existing ideas of domain wall motion including both bending and translation, which gives rise to a frictional force opposing the movement of domain walls.
1,989 citations
TL;DR: In this article, a digital feed-forward control algorithm for tracking desired time varying signals is presented, which is particularly suited to the general motion control problems including robotic arms and positioning tables.
Abstract: A digital feedforward control algorithm for tracking desired time varying signals is presented. The feedforward controller cancels all the closed-loop poles and cancellable closed-loop zeros. For uncancellable zeros, which include zeros outside the unit circle, the feedforward controller cancels the phase shift induced by them. The phase cancellation assures that the frequency response between the desired output and actual output exhibits zero phase shift for all the frequencies. The algorithm is particularly suited to the general motion control problems including robotic arms and positioning tables. A typical motion control problem is used to show the effectiveness of the proposed feedforward controller.
1,477 citations
Book•
20 Jun 1996
TL;DR: In this article, the authors present a mathematical model for phase transitions in Eutectoid carbon steels, based on the Caginalp model and the Penrose-Fife model.
Abstract: 1. Some Mathematical Tools.- 1.1 Measure and Integration.- 1.2 Function Spaces.- 1.3 Nonlinear Equations.- 1.4 Ordinary Differential Equations.- 2. Hysteresis Operators.- 2.1 Basic Examples.- 2.2 General Hysteresis Operators.- 2.3 The Play Operator.- 2.4 Hysteresis Operators of Preisach Type.- 2.5 Hysteresis Potentials and Energy Dissipation.- 2.6 Hysteresis Counting and Damage.- 2.7 Characterization of Preisach Type Operators.- 2.8 Hysteresis Loops in the Prandtl Model.- 2.9 Hysteresis Loops in the Preisach Model.- 2.10 Composition of Preisach Type Operators.- 2.11 Inverse and Implicit Hysteresis Operators.- 2.12 Hysteresis Count and Damage, Part II.- 3. Hysteresis and Differential Equations.- 3.1 Hysteresis in Ordinary Differential Equations.- 3.2 Auxiliary Imbedding Results.- 3.3 The Heat Equation with Hysteresis.- 3.4 A Convexity Inequality.- 3.5 The Wave Equation with Hysteresis.- 4. Phase Transitions and Hysteresis.- 4.1 Thermodynamic Notions and Relations.- 4.2 Phase Transitions and Order Parameters.- 4.3 Landau and Devonshire Free Energies.- 4.4 Ginzburg Theory and Phase Field Models.- 5. Hysteresis Effects in Shape Memory Alloys.- 5.1 Phenomenology and Falk's Model.- 5.2 Well-Posedness for Falk's Model.- 5.3 Numerical Approximation.- 5.4 Complementary Remarks.- 6. Phase Field Models With Non-Conserving Kinetics.- 6.1 Auxiliary Results from Linear Elliptic and Parabolic Theory.- 6.2 Well-Posedness of the Caginalp Model.- 6.3 Well-Posedness of the Penrose-Fife Model.- 6.4 Complementary Remarks.- 7. Phase Field Models With Conserved Order Parameters.- 7.1 Well-Posedness of the Caginalp Model.- 7.2 Well-Posedness of the Penrose-Fife Model.- 8. Phase Transitions in Eutectoid Carbon Steels.- 8.1 Phenomenology of the Phase Transitions.- 8.2 The Mathematical Model.- 8.3 Well-Posedness of the Model.- 8.4 The Jominy Test: A Numerical Study.
1,415 citations