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Enhanced Tracking for Nanopositioning Systems Using Feedforward/Feedback Multivariable Control Design

Kara-Mohamed, M, Heath, WP and Lanzon, A (2014) Enhanced Tracking for Nanopositioning Systems Using Feedforward/Feedback Multivariable Control Design. IEEE Transactions on Control Systems Technology, 23 (3). pp. 1003-1013. ISSN 1063-6536

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Abstract

This paper proposes a systematic synthesis methodology for a combined feedforward/feedback architecture to control multiple-input, multiple-output nanopositioning systems. Coprime factorization of the open loop model is used to design the reference and feedforward filters of the proposed control scheme to achieve enhanced tracking, eliminate the limitation of the feedback on tracking performance, and increase the bandwidth of the closed-loop system. Two types of coprime factorization, namely inner-outer factorization and normalized coprime factorization are discussed. A case study based on hardware experiment is presented to analyze the proposed control architecture and demonstrate its superiority over feedback-only control. In addition to the no-load case, the performance of the system is also tested with loads on the nanopositioning stage.

Item Type: Article
Uncontrolled Keywords: 0906 Electrical And Electronic Engineering, 0102 Applied Mathematics
Subjects: T Technology > TK Electrical engineering. Electronics. Nuclear engineering
Divisions: Maritime and Mechanical Engineering
Publisher: IEEE
Related URLs:
Date Deposited: 09 Feb 2018 10:30
Last Modified: 09 Feb 2018 10:30
DOI or Identification number: 10.1109/TCST.2014.2360498
URI: http://researchonline.ljmu.ac.uk/id/eprint/7972

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