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In this paper, a sliding mode control with perturbation estimation (SMCPE) using an extended Kalman filter (EKF) is proposed for the motion tracking control of a micropositioning system with piezoelectric actuation. Based on the solely measurable position information, the EKF on-line estimates not only the velocity but also the hysteresis term, which are used by the SMCPE for real-time control. The...
This paper proposes an improved sliding mode control with perturbation estimation (SMCPE) featuring a PID-type sliding surface and adaptive gains for the motion tracking control of a micromanipulator system with piezoelectric actuation. One advantage of the proposed controller lies in that its implementation only requires the online estimation of perturbation and control gains without acquiring the...
In this paper, a global sliding mode control (GSMC) scheme is implemented on a piezo-driven XY parallel micropositioning stage to compensate for the unmodeled hysteresis aiming at a sub-micron accuracy motion tracking control. The GSMC controller is designed with the consideration of all uncertainty bounds. In the controller implementation, a high-gain velocity observer is adopted to estimate the...
In this paper, an adaptive neural sliding mode control based on radial basis function (RBF) neural network (NN) is implemented on a piezo-driven XY parallel micro-positioning stage for a sub-micron accuracy motion tracking control. The controller is designed to map the relationship between the sliding surface variable and voltage applied to piezoelectric actuator (PZT). Hence, neither a hysteresis...
A redundant nonholonomic mobile modular manipulator composed of a 3-wheeled nonholonomic mobile platform and a N-degree of freedom (DOF) onboard modular manipulator is investigated in this paper. Redundancy of the atop manipulator is used to avoid tipping over of the entire robot through automatically adjusting self-motions in a realtime manner. On the basis of modular robot concept, a kind of integrated...
A robust adaptive neural-fuzzy (NF) controller is presented in this paper for trajectory following of nonholonomic mobile modular manipulators in task space. On the basis of modular robot concept, an integrated dynamic modeling method is proposed in consideration of the interactive motions and the nonholonomic constraints. NF systems are used as estimators to approximate dynamic model of the robot...
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