Preview-based output tracking of nonminimum-phase linear systems via trajectory decomposition: Nanomanipulation example

Haiming Wang, Kyongsoo Kim, Qingze Zou, Hongbing Xu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this article, a trajectory-decomposition-based approach to output tracking with preview for nonminimum-phase systems is proposed. When there exists a finite (in time) preview of the future desired trajectory, precision output tracking of nonminimum-phase systems can be achieved by using the preview-based stable-inversion technique. The preview-based stable-inversion technique has been successfully implemented in various high-speed positioning applications. The performance of this approach, however, can become sensitive to system dynamics uncertainty. Moreover, the computation involved in the implementation of this approach can be demanding. In the proposed approach, such preview-based inversion related challenges are addressed by integrating the notion of signal decomposition and the iterative learning control technique together. Particularly, a library of desired output elements and their corresponding control input elements is constructed, and the ILC techniques such as the recently-developed model-less inversion-based iterative control (MIIC) are used to obtain the control input elements that achieve precision output tracking of the corresponding desired output elements. Then the previewed future desired trajectory is decomposed as a summation of desired output elements, and the control input is synthesized by using the input elements selected for the corresponding output elements with chosen pre-actuation time. Furthermore, the required pre-actuation time is quantified based on the stable-inversion theory. The proposed approach is illustrated through simulation study of a nanomanipulation application using a nonminimum-phase piezo actuator model.

Original languageEnglish (US)
Title of host publicationASME 2010 Dynamic Systems and Control Conference, DSCC2010
Pages43-50
Number of pages8
DOIs
StatePublished - 2010
EventASME 2010 Dynamic Systems and Control Conference, DSCC2010 - Cambridge, MA, United States
Duration: Sep 12 2010Sep 15 2010

Publication series

NameASME 2010 Dynamic Systems and Control Conference, DSCC2010
Volume2

Other

OtherASME 2010 Dynamic Systems and Control Conference, DSCC2010
CountryUnited States
CityCambridge, MA
Period9/12/109/15/10

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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