Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system
In this paper a robust backstepping sliding mode controller is developed for tracking control of 2-DOF piezo-actuated micromanipulation system. The control approach is established to obtain high precision tracking in the existence of hysteresis nonlinearity, model uncertainties and external disturba...
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| Format: | Article |
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Springer Verlag
2019
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| _version_ | 1796864479735054336 |
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| author | Ahmad Khalili, Amelia Mohamed, Zaharuddin Mohd. Basri, Mohd. Ariffanan |
| author_facet | Ahmad Khalili, Amelia Mohamed, Zaharuddin Mohd. Basri, Mohd. Ariffanan |
| author_sort | Ahmad Khalili, Amelia |
| collection | ePrints |
| description | In this paper a robust backstepping sliding mode controller is developed for tracking control of 2-DOF piezo-actuated micromanipulation system. The control approach is established to obtain high precision tracking in the existence of hysteresis nonlinearity, model uncertainties and external disturbances which treated as a lumped uncertainty. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by a discontinuous switching function, a simple fuzzy system is used. The asymptotical stability of the system can be guaranteed since the control law is derived based on Lyapunov theorem. The effectiveness and feasibility of the suggested approach are tested for tracking of a micrometer-level reference trajectories. From the results, it is shown that the developed control system not only achieves satisfactory control performance, but also eliminates the chattering phenomena in the control effort. |
| first_indexed | 2024-03-05T20:42:30Z |
| format | Article |
| id | utm.eprints-87629 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T20:42:30Z |
| publishDate | 2019 |
| publisher | Springer Verlag |
| record_format | dspace |
| spelling | utm.eprints-876292020-11-30T09:06:26Z http://eprints.utm.my/87629/ Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system Ahmad Khalili, Amelia Mohamed, Zaharuddin Mohd. Basri, Mohd. Ariffanan TK Electrical engineering. Electronics Nuclear engineering In this paper a robust backstepping sliding mode controller is developed for tracking control of 2-DOF piezo-actuated micromanipulation system. The control approach is established to obtain high precision tracking in the existence of hysteresis nonlinearity, model uncertainties and external disturbances which treated as a lumped uncertainty. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by a discontinuous switching function, a simple fuzzy system is used. The asymptotical stability of the system can be guaranteed since the control law is derived based on Lyapunov theorem. The effectiveness and feasibility of the suggested approach are tested for tracking of a micrometer-level reference trajectories. From the results, it is shown that the developed control system not only achieves satisfactory control performance, but also eliminates the chattering phenomena in the control effort. Springer Verlag 2019-10 Article PeerReviewed Ahmad Khalili, Amelia and Mohamed, Zaharuddin and Mohd. Basri, Mohd. Ariffanan (2019) Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system. Microsystem Technologies, 25 (10). pp. 3765-3777. ISSN 0946-7076 http://dx.doi.org/10.1007/s00542-019-04294-6 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Ahmad Khalili, Amelia Mohamed, Zaharuddin Mohd. Basri, Mohd. Ariffanan Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system |
| title | Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system |
| title_full | Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system |
| title_fullStr | Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system |
| title_full_unstemmed | Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system |
| title_short | Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system |
| title_sort | enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2 dof piezo actuated micromanipulation system |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
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