TY - GEN
T1 - Robust adaptive control of a micro telemanipulation system using sliding mode-based force estimation
AU - Motamedi, Mohammad
AU - Vossoughi, Gholamreza
AU - Ahmadian, Mohammad Taghi
AU - Rezaei, Seyed Mehdi
AU - Zareinejad, Mohammad
AU - Saadat, Mozafar
PY - 2010
Y1 - 2010
N2 - Piezoelectric actuators are widely used in micro manipulation applications. However, hysteresis nonlinearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as the slave manipulator of a teleoperation system based on a sliding mode controller. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. The presented approach requires full state and force measurements at both the master and slave sides. Such a system is costly and also difficult to implement. Therefore, sliding mode unknown input observer (UIO) is proposed for full state and force estimations. Furthermore, the effects of uncertainties in the constant parameters on the estimated external forces should be eliminated. So, a robust adaptive controller is proposed and its stability is guaranteed through the Lyapunov criterion. Performance of the proposed control architecture is verified through experiments.
AB - Piezoelectric actuators are widely used in micro manipulation applications. However, hysteresis nonlinearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as the slave manipulator of a teleoperation system based on a sliding mode controller. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. The presented approach requires full state and force measurements at both the master and slave sides. Such a system is costly and also difficult to implement. Therefore, sliding mode unknown input observer (UIO) is proposed for full state and force estimations. Furthermore, the effects of uncertainties in the constant parameters on the estimated external forces should be eliminated. So, a robust adaptive controller is proposed and its stability is guaranteed through the Lyapunov criterion. Performance of the proposed control architecture is verified through experiments.
UR - http://www.scopus.com/inward/record.url?scp=77957787551&partnerID=8YFLogxK
U2 - 10.1109/acc.2010.5531409
DO - 10.1109/acc.2010.5531409
M3 - Conference contribution
AN - SCOPUS:77957787551
SN - 9781424474264
T3 - Proceedings of the 2010 American Control Conference, ACC 2010
SP - 2811
EP - 2816
BT - Proceedings of the 2010 American Control Conference, ACC 2010
PB - IEEE Computer Society
ER -