Abstract
This paper discusses the repetitive tracking control method for a coarse-fine actuator which is implemented on the existing PID controller augmented with feedback linearization loop. The proposed positioning system is composed of a magnetic linear drive as a coarse actuator and a piezoelectric linear positioner as a fine actuator. In particular, nonlinear friction in a magnetic linear drive and the hysteresis characteristic of a piezoelectric linear positioner are modeled first. The feedback linearization loop uses these models in tracking position control. The control strategy is then further extended to include a repetitive control algorithm in tracking periodic inputs. The experimental results show that the performance in tracking sinusoidal waveforms is noticeably improved by augmenting a PID controller with feedback linearization loop and a repetitive controller together.
| Original language | English |
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| Pages | 335-340 |
| Number of pages | 6 |
| State | Published - 1999 |
| Event | Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99) - Atlanta, GA, USA Duration: 19 Sep 1999 → 23 Sep 1999 |
Conference
| Conference | Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99) |
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| City | Atlanta, GA, USA |
| Period | 19/09/99 → 23/09/99 |