Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449174
A. Freddi, S. Longhi, A. Monteriù, D. Ortenzi, D. P. Pagnotta
A kinematic Fault Tolerant Control (FTC) scheme for a dual-arm system affected by actuator faults is proposed in this paper. The actuator fault consists in an unknown partial joint torque reduction, which causes a loss of the desired end-effector motion. The kinematic controller is designed according to the Relative Jacobian method, while a hierarchic prioritized tasks architecture is exploited in order to perform secondary tasks. The FTC scheme includes a Fault Detection and Diagnosis (FDD) system based on first-order sliding mode observers, in order to detect and estimate the joint torque faults on the system. The estimated fault is mapped into a perturbation of the motion of the end effector from the desired one, and compensated at the kinematic controller level. Simulation results demonstrate that the proposed technique allows to reduce the tracking error (both for the absolute and the relative motion) generated by the fault for a dual-arm system composed of two planar manipulators.
{"title":"Kinematic Fault Tolerant Control of a Dual-Arm Robotic System Under Torque Faults","authors":"A. Freddi, S. Longhi, A. Monteriù, D. Ortenzi, D. P. Pagnotta","doi":"10.1109/MESA.2018.8449174","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449174","url":null,"abstract":"A kinematic Fault Tolerant Control (FTC) scheme for a dual-arm system affected by actuator faults is proposed in this paper. The actuator fault consists in an unknown partial joint torque reduction, which causes a loss of the desired end-effector motion. The kinematic controller is designed according to the Relative Jacobian method, while a hierarchic prioritized tasks architecture is exploited in order to perform secondary tasks. The FTC scheme includes a Fault Detection and Diagnosis (FDD) system based on first-order sliding mode observers, in order to detect and estimate the joint torque faults on the system. The estimated fault is mapped into a perturbation of the motion of the end effector from the desired one, and compensated at the kinematic controller level. Simulation results demonstrate that the proposed technique allows to reduce the tracking error (both for the absolute and the relative motion) generated by the fault for a dual-arm system composed of two planar manipulators.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130276355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449187
A. Bonci, M. Pirani, Carlo Bianconi, S. Longhi
This paper proposes RMAS (relational model multiagent system), a database-centric architecture for the realization of multiagent systems suitable for the embodiment of reasoning and control in cyber-physical systems. The RMAS uses a tightly coupled association between an active database management system and a host processing language. A first instance of RMAS is proposed by means of the coupling of the Matlab environment and the SQLite database language. The choice of the database language is guided by the keen attention of RMAS to systems that feature scalability down to the tiny embedded systems of the Internet of Things. An example of a typical holonic manufacturing problem with mechatronics entities is conducted by means of the proposed architecture.
{"title":"RMAS: Relational Multiagent System for CPS Prototyping and Programming","authors":"A. Bonci, M. Pirani, Carlo Bianconi, S. Longhi","doi":"10.1109/MESA.2018.8449187","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449187","url":null,"abstract":"This paper proposes RMAS (relational model multiagent system), a database-centric architecture for the realization of multiagent systems suitable for the embodiment of reasoning and control in cyber-physical systems. The RMAS uses a tightly coupled association between an active database management system and a host processing language. A first instance of RMAS is proposed by means of the coupling of the Matlab environment and the SQLite database language. The choice of the database language is guided by the keen attention of RMAS to systems that feature scalability down to the tiny embedded systems of the Internet of Things. An example of a typical holonic manufacturing problem with mechatronics entities is conducted by means of the proposed architecture.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127980950","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449144
Waqar Ahmad, Imran Hafeez Abbassi, Usman Sanwal, H. Mahmood
In recent years, the decoding algorithms in communication networks are becoming increasingly complex aiming to achieve high reliability in correctly decoding received messages. These decoding algorithms involve computationally complex operations requiring high performance computing hardware, which are generally expensive. A cost-effective solution is to enhance the Instruction Set Architecture (ISA) of the processors by creating new custom instructions for the computational parts of the decoding algorithms. In this paper, we propose to utilize the custom instruction approach to efficiently implement the widely used Viterbi decoding algorithm by adding the assembly language instructions to the ISA of DLX, PicoJava II and NIOS II processors, which represent RISC, stack and FPGA-based soft-core processor architectures, respectively. By using the custom instruction approach, the execution time of the Viterbi algorithm is significantly improved by approximately 3 times for DLX and PicoJava II, and by 2 times for NIOS II.
{"title":"Accelerating Viterbi Algorithm using Custom Instruction Approach","authors":"Waqar Ahmad, Imran Hafeez Abbassi, Usman Sanwal, H. Mahmood","doi":"10.1109/MESA.2018.8449144","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449144","url":null,"abstract":"In recent years, the decoding algorithms in communication networks are becoming increasingly complex aiming to achieve high reliability in correctly decoding received messages. These decoding algorithms involve computationally complex operations requiring high performance computing hardware, which are generally expensive. A cost-effective solution is to enhance the Instruction Set Architecture (ISA) of the processors by creating new custom instructions for the computational parts of the decoding algorithms. In this paper, we propose to utilize the custom instruction approach to efficiently implement the widely used Viterbi decoding algorithm by adding the assembly language instructions to the ISA of DLX, PicoJava II and NIOS II processors, which represent RISC, stack and FPGA-based soft-core processor architectures, respectively. By using the custom instruction approach, the execution time of the Viterbi algorithm is significantly improved by approximately 3 times for DLX and PicoJava II, and by 2 times for NIOS II.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124908230","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449172
Zhenyan Wei, Yiyin Wei
This paper focuses on the study of the transition control of hypersonic vehicles with two stages of flight. An active disturbance rejection controller with special instruction generation and double-loop extended state observers (ESO) is proposed, which realizes the identification and control of the equilibrium state. Both instruction and observers design method are present to ensure the accuracy as well as convergence. Simulation results show that this method is effective and feasible.
{"title":"A research on state identification and control method based on extended state observer","authors":"Zhenyan Wei, Yiyin Wei","doi":"10.1109/MESA.2018.8449172","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449172","url":null,"abstract":"This paper focuses on the study of the transition control of hypersonic vehicles with two stages of flight. An active disturbance rejection controller with special instruction generation and double-loop extended state observers (ESO) is proposed, which realizes the identification and control of the equilibrium state. Both instruction and observers design method are present to ensure the accuracy as well as convergence. Simulation results show that this method is effective and feasible.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117143600","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a lossless compression algorithm and its chip design for signals and images applied to Internet of Things (IoT) and industry 4.0. Since the sensing signals, such as thermal, photo, gas, etc., are important for IoT and industry 4.0, a lossless signal compression technique based on an adaptive prediction and a hybrid entropy coding is proposed in this study. In addition, since applications of images are more and more important for IoT and industry 4.0, a flexible lossless image compression technique based on pixel restoration, median edge detection, and a hybrid entropy coding was developed for the proposed algorithm. The proposed algorithm can provide lossless compression for images in different types which includes grayscale, color (RGB), color filter array (CFA), and infrared images. In order to meet the demands of tiny and low-power-consumption for IoT, the proposed algorithm was realized by VLSI technique. A hardware sharing and pipeline scheduling techniques were used to reduce hardware cost and improve the operating frequency of the proposed design. The proposed design was synthesized by using a TSMC 0.18-$mu text{m}$ CMOS process and it contained 5.46 k gate counts. Compared with previous JPEG-LS based designs, this work has benefits of better compression rates, lower cost, lower memory requirement and more lossless compression functions than previous designs. It is suitable for development of IoT and industry 4.0.
{"title":"Flexible Signals and Images Lossless Compression Chip Design for IoT and Industry 4.0","authors":"Shih-Lun Chen, Chi-Hao Liao, Tsun-Kuang Chi, Ting-Lan Lin, Chiung-An Chen","doi":"10.1109/MESA.2018.8449205","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449205","url":null,"abstract":"This paper presents a lossless compression algorithm and its chip design for signals and images applied to Internet of Things (IoT) and industry 4.0. Since the sensing signals, such as thermal, photo, gas, etc., are important for IoT and industry 4.0, a lossless signal compression technique based on an adaptive prediction and a hybrid entropy coding is proposed in this study. In addition, since applications of images are more and more important for IoT and industry 4.0, a flexible lossless image compression technique based on pixel restoration, median edge detection, and a hybrid entropy coding was developed for the proposed algorithm. The proposed algorithm can provide lossless compression for images in different types which includes grayscale, color (RGB), color filter array (CFA), and infrared images. In order to meet the demands of tiny and low-power-consumption for IoT, the proposed algorithm was realized by VLSI technique. A hardware sharing and pipeline scheduling techniques were used to reduce hardware cost and improve the operating frequency of the proposed design. The proposed design was synthesized by using a TSMC 0.18-$mu text{m}$ CMOS process and it contained 5.46 k gate counts. Compared with previous JPEG-LS based designs, this work has benefits of better compression rates, lower cost, lower memory requirement and more lossless compression functions than previous designs. It is suitable for development of IoT and industry 4.0.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124919872","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449173
G. Ottonello, G. Berselli, L. Bruzzone, P. Fanghella
This paper discusses the mechanical architecture of Elloboat, an unmanned Tracked Vehicle (TV) for launching and beaching of watercrafts and small boats (up to a length of 3.5 meters). The mechanical architecture of Elloboat comprises a central saddle connected to two lateral tracks by parallelogram linkages, which may be driven by linear or rotary actuators to lift/lower the payload. The TV is able to pick the boat form a support, to travel along the beach and to perform launching while almost completely submerged. On the contrary, during beaching, the boat is relieved from the water and then transported to storage. The Elloboat mechanical architecture is redundantly constrained and actuated. In the following, after a detailed description of the device, the TV kinematic and static behaviours according to different actuation schemes are discussed on the basis of a mobility analysis and then by multibody simulations, with rigid and flexible models of joints.
{"title":"Functional Design of Elloboat, a Tracked Vehicle for Launching and Beaching of Watercrafts and Small Boats","authors":"G. Ottonello, G. Berselli, L. Bruzzone, P. Fanghella","doi":"10.1109/MESA.2018.8449173","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449173","url":null,"abstract":"This paper discusses the mechanical architecture of Elloboat, an unmanned Tracked Vehicle (TV) for launching and beaching of watercrafts and small boats (up to a length of 3.5 meters). The mechanical architecture of Elloboat comprises a central saddle connected to two lateral tracks by parallelogram linkages, which may be driven by linear or rotary actuators to lift/lower the payload. The TV is able to pick the boat form a support, to travel along the beach and to perform launching while almost completely submerged. On the contrary, during beaching, the boat is relieved from the water and then transported to storage. The Elloboat mechanical architecture is redundantly constrained and actuated. In the following, after a detailed description of the device, the TV kinematic and static behaviours according to different actuation schemes are discussed on the basis of a mobility analysis and then by multibody simulations, with rigid and flexible models of joints.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123834006","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449188
P. Mäkinen, Teemu Mononen, J. Mattila
In this study, we propose an observer design based on inertial sensors and the finite element (FE) method to estimate the flexural states of a long-reach and highly flexible manipulator in a 3D plane of motion. Vertical and lateral dynamic bendings are considered, along with deformation due to torsion. The aim is to achieve accurate end-point positioning by using the estimated flexural degrees-of-freedom, which are formulated using an FE model. The states are reconstructed based on angular velocity measurements, which are obtained from strap-on inertial sensors placed along the flexible link. For validation, a motion-capture setup consisting of three OptiTrack cameras is used. The experiments are conducted on a hydraulic manipulator that has a single 4.5-m long flexible link with a tip mass. The validation is carried out by comparing the estimates to the OptiTrack reference measurements. The results demonstrate that this method provides satisfactory end-point positioning, while also being convenient for use in heavy-duty mobile manipulators.
{"title":"Inertial Sensor-Based State Estimation of Flexible Links Subject to Bending and Torsion","authors":"P. Mäkinen, Teemu Mononen, J. Mattila","doi":"10.1109/MESA.2018.8449188","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449188","url":null,"abstract":"In this study, we propose an observer design based on inertial sensors and the finite element (FE) method to estimate the flexural states of a long-reach and highly flexible manipulator in a 3D plane of motion. Vertical and lateral dynamic bendings are considered, along with deformation due to torsion. The aim is to achieve accurate end-point positioning by using the estimated flexural degrees-of-freedom, which are formulated using an FE model. The states are reconstructed based on angular velocity measurements, which are obtained from strap-on inertial sensors placed along the flexible link. For validation, a motion-capture setup consisting of three OptiTrack cameras is used. The experiments are conducted on a hydraulic manipulator that has a single 4.5-m long flexible link with a tip mass. The validation is carried out by comparing the estimates to the OptiTrack reference measurements. The results demonstrate that this method provides satisfactory end-point positioning, while also being convenient for use in heavy-duty mobile manipulators.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127177263","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449195
Erind Ujkani, J. Dybedal, Atle Aalerud, Knut B. Kaldestad, G. Hovland
This paper presents a benchmark and accuracy analysis of 3D sensor calibration in a large industrial robot cell. The sensors used were the Kinect v2 which contains both an RGB and an IR camera measuring depth based on the time-of-flight principle. The approach taken was based on a novel procedure combining Aruco visual markers, methods using region of interest and iterative closest point. The calibration of sensors is performed pairwise, exploiting the fact that time-of-flight sensors can have some overlap in the generated point cloud data. For a volume measuring 10m × 14m × 5m a typical accuracy of the generated point cloud data of 5–10cm was achieved using six sensor nodes.
{"title":"Visual Marker Guided Point Cloud Registration in a Large Multi-Sensor Industrial Robot Cell","authors":"Erind Ujkani, J. Dybedal, Atle Aalerud, Knut B. Kaldestad, G. Hovland","doi":"10.1109/MESA.2018.8449195","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449195","url":null,"abstract":"This paper presents a benchmark and accuracy analysis of 3D sensor calibration in a large industrial robot cell. The sensors used were the Kinect v2 which contains both an RGB and an IR camera measuring depth based on the time-of-flight principle. The approach taken was based on a novel procedure combining Aruco visual markers, methods using region of interest and iterative closest point. The calibration of sensors is performed pairwise, exploiting the fact that time-of-flight sensors can have some overlap in the generated point cloud data. For a volume measuring 10m × 14m × 5m a typical accuracy of the generated point cloud data of 5–10cm was achieved using six sensor nodes.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132893873","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449163
Hubert Hongbo Zhu, Z. Dong
All-electric ships can provide a significant reduction in fuel consumption, maintenance, and emission as well as improved reliability and responsiveness. Today many electrified ships operate on an AC power bus. Due to the complexity of the system, effective modeling and simulation tools are essential for the design, analysis, optimization and evaluation of the hybrid electric propulsion system. This paper discusses a dynamic model of shipboard AC hybrid power system, which is composed of seven major components: three diesel-generator sets, a battery Energy Storage System (ESS), an AC power sources synchronizer and a bi-directional DC/AC power converter, using a ferry ship as the modeling platform. The power converter is modeled as a nonlinear dynamic average-value model to suit system-level studies. Each of component models is parameterized using data sheet provided information from the manufacturers. A rule-based supervisory controller is proposed to coordinate power sharing among diesel-generator sets and the ESS. Using the acquired load profile of the ferry, simulation results obtained using the introduced modeling tool present power sharing solutions among four power sources in four operation modes with voltage and frequency stabilization of the system AC bus.
{"title":"Modeling and Simulation of Hybrid Electric Ships with AC Power Bus - A Case Study","authors":"Hubert Hongbo Zhu, Z. Dong","doi":"10.1109/MESA.2018.8449163","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449163","url":null,"abstract":"All-electric ships can provide a significant reduction in fuel consumption, maintenance, and emission as well as improved reliability and responsiveness. Today many electrified ships operate on an AC power bus. Due to the complexity of the system, effective modeling and simulation tools are essential for the design, analysis, optimization and evaluation of the hybrid electric propulsion system. This paper discusses a dynamic model of shipboard AC hybrid power system, which is composed of seven major components: three diesel-generator sets, a battery Energy Storage System (ESS), an AC power sources synchronizer and a bi-directional DC/AC power converter, using a ferry ship as the modeling platform. The power converter is modeled as a nonlinear dynamic average-value model to suit system-level studies. Each of component models is parameterized using data sheet provided information from the manufacturers. A rule-based supervisory controller is proposed to coordinate power sharing among diesel-generator sets and the ESS. Using the acquired load profile of the ferry, simulation results obtained using the introduced modeling tool present power sharing solutions among four power sources in four operation modes with voltage and frequency stabilization of the system AC bus.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132120691","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449181
Zhiming Zhang, P. Yan
Nano precision capacitive displacement sensors have been successfully employed to the servo control of piezoelectric nano stages. However the analog-to-digital (A/D) conversion of the ultra high precision signal results in major time delays for the nano control systems. Meanwhile, the behavior of the hysteresis of piezoactuators can be also approximated as a variable gain cascaded with a frequency varying time delay. The infinite dimensionality of the time delays in nano servo systems poses new challenges for the control of nano stages, where traditional control methods can not be applied directly. In this paper, a linear model with time delays and hysteresis approximation is discussed for piezoelectric nano stages, where the system parameters are further determined using an identification method by experimental data. Furthermore a Smith predictor based robust ℋ∞ controller is developed to achieve high performance and robust stability for the control of nano stages. Real time experiments with the proposed control design are conducted, where robustness against model uncertainties and accurate positioning performance are demonstrated, which outperforms the method without considering time delays.
{"title":"Smith Predictor Based ℋ∞ Control for Piezoelectric Nano Stages with Time Delays","authors":"Zhiming Zhang, P. Yan","doi":"10.1109/MESA.2018.8449181","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449181","url":null,"abstract":"Nano precision capacitive displacement sensors have been successfully employed to the servo control of piezoelectric nano stages. However the analog-to-digital (A/D) conversion of the ultra high precision signal results in major time delays for the nano control systems. Meanwhile, the behavior of the hysteresis of piezoactuators can be also approximated as a variable gain cascaded with a frequency varying time delay. The infinite dimensionality of the time delays in nano servo systems poses new challenges for the control of nano stages, where traditional control methods can not be applied directly. In this paper, a linear model with time delays and hysteresis approximation is discussed for piezoelectric nano stages, where the system parameters are further determined using an identification method by experimental data. Furthermore a Smith predictor based robust ℋ∞ controller is developed to achieve high performance and robust stability for the control of nano stages. Real time experiments with the proposed control design are conducted, where robustness against model uncertainties and accurate positioning performance are demonstrated, which outperforms the method without considering time delays.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122932553","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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