High-precision Control of a Piezo-driven Nanopositioner Using Fuzzy Logic Controllers

Mohammed Altaher, Sumeet Sunil Aphale

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)
11 Downloads (Pure)


This paper presents single- and dual-loop fuzzy control schemes to precisely control the piezo-driven nanopositioner in the x- and y-axis directions. Various issues are associated with this control problem, such as low stability margin due to the sharp resonant peak, nonlinear dynamics, parameter uncertainty, etc. As such, damping controllers are often utilised to damp the mechanical resonance of the nanopositioners. The Integral Resonant Controller (IRC) is used in this paper as a damping controller to damp the mechanical resonance. A further inherent problem is the hysteresis phenomenon (disturbance), which leads to degrading the positioning performance (accuracy) of the piezo-driven stage. The common approach to treat this disturbance is to invoke tracking controllers in a closed-loop feedback scheme in conjunction with the damping controllers. The traditional approach uses the Integral Controller (I) or Proportional Integral (PI) as a tracking controller, whereas this paper introduces the Proportional and Integral (PI)-like Fuzzy Logic Controller (FLC) as a tracking controller. The effectiveness of the proposed control schemes over conventional schemes is confirmed through comparative simulation studies, and results are presented. The stability boundaries of the proposed control schemes are determined in the same way as with a conventional controller. Robustness against variations in the resonant frequency of the proposed control schemes is verified.
Original languageEnglish
Article number10
Pages (from-to)1-17
Number of pages17
Issue number1
Publication statusPublished - 22 Jan 2018
Event1st International Symposium on Computer Science and Intelligent Control - Budapest, Hungary
Duration: 20 Oct 201722 Oct 2017

Bibliographical note

Acknowledgments: The authors would like to thank Douglas Russell for the technical help and Andres San-Millan for data measurements. Financial support via the Elphinstone Research Scholarship, provided by the School of Engineering, University of Aberdeen, to fund Mohammed Altaher’s Ph.D. work is highly appreciated.


  • vibration
  • nonlinearity
  • fuzzy logic controller


Dive into the research topics of 'High-precision Control of a Piezo-driven Nanopositioner Using Fuzzy Logic Controllers'. Together they form a unique fingerprint.

Cite this