title: A disturbance observer-based adaptive control approach for flexure beam nano manipulators.
abstract: This paper presents a systematic modeling and control methodology for a two-dimensional flexure beam-based servo stage supporting micro/nano manipulations. Compared with conventional mechatronic systems, such systems have major control challenges including cross-axis coupling, dynamical uncertainties, as well as input saturations, which may have adverse effects on system performance unless effectively eliminated. A novel disturbance observer-based adaptive backstepping-like control approach is developed for high precision servo manipulation purposes, which effectively accommodates model uncertainties and coupling dynamics. An auxiliary system is also introduced, on top of the proposed control scheme, to compensate the input saturations. The proposed control architecture is deployed on a customized-designed nano manipulating system featured with a flexure beam structure and voice coil actuators (VCA). Real time experiments on various manipulating tasks, such as trajectory/contour tracking, demonstrate precision errors of less than 1%.
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
authors.forename: Yangming
authors.initials: Y
authors.lastname: Zhang
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; Key Laboratory of High-efficiency and Clean Mechanical Manufacture, Ministry of Education, School of Mechanical Engineering, Shandong University, Jinan, Shandong 250061, China. Electronic address: PengYan2007@gmail.com.
authors.forename: Peng
authors.initials: P
authors.lastname: Yan
authors.affiliation: Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China.
authors.forename: Zhen
authors.initials: Z
authors.lastname: Zhang
keywords: Adaptive control; Disturbance observer; Input saturation; Nano servo systems; Tracking control