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The capability of doing dexterous robotic tasks at the nanometer scale inside a Scanning Electron Microscope (SEM) is a critical issue for nanotechnologies. SEM-integrated nano-robotic systems have consequently emerged in many robotics laboratories. They can be composed of one or more actuators assembled into nano-robotic platforms with one or several effectors. When driven by Piezoelectric Stick-Slip...
In order to define trajectory-tracking strategies for nano-robotic systems using piezoelectric stick-slip actuators, the dynamics of the elementary actuator must be studied and well modeled. The modeling of this class of actuators is complex because several nonlinear parameters are involved. In this paper, we propose a systematic modeling methodology of piezoelectric stick-slip actuators for nano-robotic...
This paper presents a comparison of several open-loop methods for hysteresis compensation on a lab-made micro-/nanopositioning device. The classical Preisach model with the inverse multiplicative structure, and the Classical/Modified Prandtl-Ishlinskii models with model inversion, are considered. The classical Preisach method though suited for asymmetric hysteresis, does not have an analytic inverse...
This paper deals with robust closed-loop control of a nano-robotic system dedicated to fast scanning probe microscopy. The nano-robotic system is actuated by piezoelectric stick-slip actuators able to produce a millimeter range displacement with a nanometer resolution. In order to meet the requirements of fast scanning in terms of closed-loop bandwidth and vibration damping, robust control strategies...
In this paper, we present a passive fault tolerant control energy management for two-converters parallel configuration in electrical vehicle system. The passive FTC is based on H-infinity approach (H-infinity full order and fixed H-infinity structure); this PFTC is coupled with the optimal control to optimize the consumption of the FC fuel. This architecture is proposed to ensure the stability with...
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