NDLI: LFT Structured Uncertainty Modeling and Robust Loop-Shaping Controller Optimization for an Ultraprecision Positioning Stage

Content Provider	IEEE Xplore Digital Library
Author	Jin Yang Yu Zhu Wensheng Yin Chuxiong Hu Kaiming Yang Haihua Mu
Copyright Year	1982
Abstract	In this paper, a practical modeling and robust controller optimization strategy is presented for an ultraprecision positioning stage with position-dependent dynamics to achieve ultraprecision positioning accuracy. A linear-fractional-transformation structured uncertainty modeling procedure is proposed to describe the varying dynamics of the stage. The modeling process involves the global curve fitting of frequency response functions and dimensionality reduction for the uncertainty structure so that the uncertainty set could be minimized. Then, a robust loop-shaping controller optimization method is presented to improve the control performances. The optimization objective includes the control bandwidth and the disturbance rejection ability, and μ analysis is employed as a nonconservative robust condition with respect to the structured uncertainty. A genetic algorithm is then utilized to determine the optimal parameters of the controller. Comparative experiments on a developed ultraprecision positioning stage are finally conducted, and the results validate that significant improvements on rising time, settling time, and positioning accuracy have been achieved.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	7013
Ending Page	7025
Page Count	13
File Size	2385905
File Format	PDF
ISSN	02780046
Volume Number	61
Issue Number	12
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Optimization Curve fitting Mathematical model Transfer functions Robustness Motion control structured uncertainty modeling Controller optimization loop shaping motion control precision positioning stage
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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