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This paper investigates the tracking control problems of a voice coil motor (VCM) actuated servo gantry system. A novel sliding mode disturbance observer based control algorithm is proposed to accommodate both model uncertainties and various disturbances. In the proposed control architecture, the sliding mode observer is introduced to estimate the total disturbances such that the observer error can...
This paper investigates the modeling and control problem of a novel piezoelectric-actuator (PZT) driven nanopositioner. The physical model of the nanopositioning stage is first discussed with the hysteresis nonlinearity of the PZT actuator. For the purposes of eliminating the hysteresis impact and various disturbances, an active disturbance rejection control (ADRC) algorithm is proposed, where the...
In this paper, we consider the discrete time case of a time-varying internal model-based control design for high precision tracking of frequency-varying reference trajectories. Thanks to a recently proposed parallel time-varying internal model structure, the asymptotic tracking conditions for the design of internal model units are developed, and a low order robust stabilizer is synthesized. In a discrete...
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