William Nagel wins Best Session Presentation Award for paper entitled, \u201cMaster- Slave Control with Hysteresis Inversion for Dual-Stage Nanopositioning Systems\u201d, at the American Control Conference in Boston, MA, July 6-8, 2016.<\/p>\n
ABSTRACT:<\/p>\n
This paper focuses on motion control of a piezo-based\u00a0dual-stage nanopositioner where hysteresis and dynamic\u00a0effects dominate the output response. A typical dual-stage\u00a0micro\/nano-scale positioning system consists of a long-range,\u00a0low-speed actuator connected in series with a short-range, high-speed\u00a0actuator. This arrangement allows for fast, long-range,\u00a0and precise positioning. The main challenges, however, are that\u00a0both hysteresis and dynamic effects (induced structural vibrations\u00a0and creep) cause excessive positioning error and the control\u00a0design problem requires balancing the relative contributions\u00a0of the individual actuators (range, speed, and precision). To\u00a0enable high-performance operation, a feedforward master-slave\u00a0controller with hysteresis compensation is proposed. First, the\u00a0Prandtl-Ishlinskii hysteresis model is exploited for inversion-based\u00a0hysteresis compensation to linearize the response of each\u00a0actuator. Then, a feedforward master-slave controller is used\u00a0to minimize the dynamic effects and provide a systematic\u00a0way to balance the relative contributions of the two actuators.\u00a0A detailed presentation of the control structure is presented,\u00a0followed by showing simulation and experimental results to\u00a0demonstrate the efficacy of the approach.<\/p>\n","protected":false},"excerpt":{"rendered":"
William Nagel wins Best Session Presentation Award for paper entitled, \u201cMaster- Slave Control with Hysteresis Inversion for Dual-Stage Nanopositioning Systems\u201d, at the American Control Conference in Boston, MA, July 6-8, 2016. ABSTRACT: This paper focuses on motion control of a piezo-based\u00a0dual-stage nanopositioner where hysteresis and dynamic\u00a0effects dominate […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_exactmetrics_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"footnotes":""},"categories":[73,76,77],"tags":[],"class_list":["post-2052","post","type-post","status-publish","format-standard","hentry","category-all_news","category-pubs","category-student_news"],"_links":{"self":[{"href":"http:\/\/www.kam.k.leang.com\/academics\/wp-json\/wp\/v2\/posts\/2052","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.kam.k.leang.com\/academics\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.kam.k.leang.com\/academics\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.kam.k.leang.com\/academics\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.kam.k.leang.com\/academics\/wp-json\/wp\/v2\/comments?post=2052"}],"version-history":[{"count":1,"href":"http:\/\/www.kam.k.leang.com\/academics\/wp-json\/wp\/v2\/posts\/2052\/revisions"}],"predecessor-version":[{"id":2053,"href":"http:\/\/www.kam.k.leang.com\/academics\/wp-json\/wp\/v2\/posts\/2052\/revisions\/2053"}],"wp:attachment":[{"href":"http:\/\/www.kam.k.leang.com\/academics\/wp-json\/wp\/v2\/media?parent=2052"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.kam.k.leang.com\/academics\/wp-json\/wp\/v2\/categories?post=2052"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.kam.k.leang.com\/academics\/wp-json\/wp\/v2\/tags?post=2052"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}