Abstract
For most nanopositioning systems, maximising positioning bandwidth to accurately track periodic and aperiodic reference signals is the primary performance goal. Closed-loop control schemes are employed to overcome the inherent performance limitations such as mechanical resonance, hysteresis and creep. Most reported control schemes are integer-order and combine both damping and tracking actions. In this work, fractional-order controllers from the positive position feedback family namely: the Fractional-Order Integral Resonant Control (FOIRC), the Fractional-Order Positive Position Feedback (FOPPF) controller, the Fractional-Order Positive Velocity and Position Feedback (FOPVPF) controller and the Fractional-Order Positive, Acceleration, Velocity and Position Feedback (FOPAVPF) controller are designed and analyzed. Compared with their classical integer-order implementation, the fractional-order damping and tracking controllers furnish additional design (tuning) parameters, facilitating superior closed-loop bandwidth and tracking accuracy. Detailed simulated experiments are performed on recorded frequency-response data to validate the efficacy, stability and robustness of the proposed control schemes. The results show that the fractional-order versions deliver the best overall performance.
Original language | English |
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Journal | ISA Transactions |
Early online date | 30 Jan 2024 |
DOIs | |
Publication status | E-pub ahead of print - 30 Jan 2024 |
Bibliographical note
Open Access via the Elsevier/JISC agreementKeywords
- Fractional order control
- nanopositioning
- Piezoelectric actuators
- Robust control