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Motion tracking control of piezo-driven flexure-based mechanism based on sliding mode strategy

Conference Paper


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Abstract


  • This paper presents a motion tracking control

    methodology based on sliding mode strategy for a flexure-based

    micro/nano manipulator driven by a piezoelectric actuator. This

    control methodology is proposed for tracking of desired motion

    trajectories in the presence of uncertain system parameters,

    non-linearities including the hysteresis effect, and external

    disturbances in the control system. In this paper, a four-bar

    link is investigated and a lumped parameter dynamic model is

    established for the formulation of the proposed sliding mode

    motion control methodology. The convergence of the position

    tracking error to zero is assured by the approach in the

    presence of the aforementioned conditions. The stability of

    the closed-loop system is proven theoretically, and a precise

    tracking performance in following a desired motion trajectory

    is demonstrated in the experimental study. With the capability

    of motion tracking, the proposed control methodology can be

    employed in realising high performance flexure-based control

    applications.

UOW Authors


  •   Liaw, Hwee Choo (external author)
  •   Shirinzadeh, Bijan (external author)
  •   Smith, Julian (external author)
  •   Alici, Gursel

Publication Date


  • 2007

Citation


  • Liaw, H., Shirinzadeh, B., Smith, J. & Alici, G. (2007). Motion tracking control of piezo-driven flexure-based mechanism based on sliding mode strategy. International Conference on Advanced Intelligent Mechatronics (pp. 1-6). Switzerland: IEEE.

Scopus Eid


  • 2-s2.0-48649103849

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=2827&context=engpapers

Ro Metadata Url


  • http://ro.uow.edu.au/engpapers/1782

Has Global Citation Frequency


Start Page


  • 1

End Page


  • 6

Place Of Publication


  • Switzerland

Abstract


  • This paper presents a motion tracking control

    methodology based on sliding mode strategy for a flexure-based

    micro/nano manipulator driven by a piezoelectric actuator. This

    control methodology is proposed for tracking of desired motion

    trajectories in the presence of uncertain system parameters,

    non-linearities including the hysteresis effect, and external

    disturbances in the control system. In this paper, a four-bar

    link is investigated and a lumped parameter dynamic model is

    established for the formulation of the proposed sliding mode

    motion control methodology. The convergence of the position

    tracking error to zero is assured by the approach in the

    presence of the aforementioned conditions. The stability of

    the closed-loop system is proven theoretically, and a precise

    tracking performance in following a desired motion trajectory

    is demonstrated in the experimental study. With the capability

    of motion tracking, the proposed control methodology can be

    employed in realising high performance flexure-based control

    applications.

UOW Authors


  •   Liaw, Hwee Choo (external author)
  •   Shirinzadeh, Bijan (external author)
  •   Smith, Julian (external author)
  •   Alici, Gursel

Publication Date


  • 2007

Citation


  • Liaw, H., Shirinzadeh, B., Smith, J. & Alici, G. (2007). Motion tracking control of piezo-driven flexure-based mechanism based on sliding mode strategy. International Conference on Advanced Intelligent Mechatronics (pp. 1-6). Switzerland: IEEE.

Scopus Eid


  • 2-s2.0-48649103849

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=2827&context=engpapers

Ro Metadata Url


  • http://ro.uow.edu.au/engpapers/1782

Has Global Citation Frequency


Start Page


  • 1

End Page


  • 6

Place Of Publication


  • Switzerland