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Feasibility study of robust neural network motion tracking control of piezoelectric actuation systems for micro/nano manipulation

Conference Paper


Abstract


  • This paper presents a robust neural network motion

    tracking control methodology for piezoelectric actuation systems

    employed in micro/nano manipulation. This control methodology

    is proposed for tracking of desired motion trajectories in the

    presence of unknown system parameters, non-linearities including

    the hysteresis effect, and external disturbances in the control

    systems. In this paper, the control methodology is established

    including the neural networks and a sliding scheme. Particularly,

    the radial basis function neural networks are chosen in this study

    for function approximations. Stability of the closed-loop systems

    and convergence of the position and velocity tracking errors to

    zero are assured by the control methodology in the presence of

    the aforementioned conditions. Simulation results of the control

    methodology for tracking of a desired motion trajectory is

    presented. With the capability of motion tracking, the proposed

    control methodology can be utilised to realise high performance

    piezoelectric actuated micro/nano manipulation systems.

UOW Authors


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

Publication Date


  • 2007

Citation


  • Liaw, H., Shirinzadeh, B., Alici, G. & Smith, J. (2007). Feasibility study of robust neural network motion tracking control of piezoelectric actuation systems for micro/nano manipulation. The 13th International Conference on Advanced Robotics (pp. 1256-1261). Korea: Springer.

Scopus Eid


  • 2-s2.0-36749016222

Ro Metadata Url


  • http://ro.uow.edu.au/engpapers/2995

Has Global Citation Frequency


Start Page


  • 1256

End Page


  • 1261

Place Of Publication


  • Korea

Abstract


  • This paper presents a robust neural network motion

    tracking control methodology for piezoelectric actuation systems

    employed in micro/nano manipulation. This control methodology

    is proposed for tracking of desired motion trajectories in the

    presence of unknown system parameters, non-linearities including

    the hysteresis effect, and external disturbances in the control

    systems. In this paper, the control methodology is established

    including the neural networks and a sliding scheme. Particularly,

    the radial basis function neural networks are chosen in this study

    for function approximations. Stability of the closed-loop systems

    and convergence of the position and velocity tracking errors to

    zero are assured by the control methodology in the presence of

    the aforementioned conditions. Simulation results of the control

    methodology for tracking of a desired motion trajectory is

    presented. With the capability of motion tracking, the proposed

    control methodology can be utilised to realise high performance

    piezoelectric actuated micro/nano manipulation systems.

UOW Authors


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

Publication Date


  • 2007

Citation


  • Liaw, H., Shirinzadeh, B., Alici, G. & Smith, J. (2007). Feasibility study of robust neural network motion tracking control of piezoelectric actuation systems for micro/nano manipulation. The 13th International Conference on Advanced Robotics (pp. 1256-1261). Korea: Springer.

Scopus Eid


  • 2-s2.0-36749016222

Ro Metadata Url


  • http://ro.uow.edu.au/engpapers/2995

Has Global Citation Frequency


Start Page


  • 1256

End Page


  • 1261

Place Of Publication


  • Korea