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Sliding Mode Control with Dynamical Correction for Time-Delay Piezoelectric Actuator Systems
In piezoelectric actuators (PEAs), which suffer from inherent nonlinearities, sliding mode control (SMC) has proven to be a successful control strategy. Nonetheless, in micropositioning systems with time delay, integral proportional control (PI), and SMC, feedback control schemes have a tendency to...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6981594/ https://www.ncbi.nlm.nih.gov/pubmed/31892249 http://dx.doi.org/10.3390/ma13010132 |
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author | Velasco, Javier Barambones, Oscar Calvo, Isidro Zubia, Joseba Saez de Ocariz, Idurre Chouza, Ander |
author_facet | Velasco, Javier Barambones, Oscar Calvo, Isidro Zubia, Joseba Saez de Ocariz, Idurre Chouza, Ander |
author_sort | Velasco, Javier |
collection | PubMed |
description | In piezoelectric actuators (PEAs), which suffer from inherent nonlinearities, sliding mode control (SMC) has proven to be a successful control strategy. Nonetheless, in micropositioning systems with time delay, integral proportional control (PI), and SMC, feedback control schemes have a tendency to overcompensate and, consequently, high controller gains must be rejected. This may produce a slow and inaccurate response. This paper presents a novel control strategy that deals with time-delay micropositioning systems aimed at achieving precise positioning by combining an open-loop control with a modified SMC scheme. The proposed SMC with dynamical correction (SMC-WDC) uses the dynamical system model to adapt the SMC inputs and avoid undesirable control response caused by delays. In order to develop the SMC-WDC scheme, an exhaustive analysis on the micropositioning system was first performed. Then, a mixed control strategy, combining inverse open-loop control and SMC-WDC, was developed. The performance of the presented control scheme was analyzed and compared experimentally with other control strategies (i.e., PI and SMC with saturation and hyperbolic functions) using different reference signals. It was found that the SMC-WDC strategy presents the best performance, that is, the fastest response and highest accuracy, especially against sudden changes of reference setpoints (frequencies >10 Hz). Additionally, if the setpoint reference frequencies are higher than 10 Hz, high integral gains are counterproductive (since the control response increases the delay), although if frequencies are below 1 Hz the integral control delay does not affect the system’s accuracy. The SMC-WDC proved to be an effective strategy for micropositioning systems, dealing with time delay and other uncertainties to achieve the setpoint command fast and precisely without chattering. |
format | Online Article Text |
id | pubmed-6981594 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-69815942020-02-03 Sliding Mode Control with Dynamical Correction for Time-Delay Piezoelectric Actuator Systems Velasco, Javier Barambones, Oscar Calvo, Isidro Zubia, Joseba Saez de Ocariz, Idurre Chouza, Ander Materials (Basel) Article In piezoelectric actuators (PEAs), which suffer from inherent nonlinearities, sliding mode control (SMC) has proven to be a successful control strategy. Nonetheless, in micropositioning systems with time delay, integral proportional control (PI), and SMC, feedback control schemes have a tendency to overcompensate and, consequently, high controller gains must be rejected. This may produce a slow and inaccurate response. This paper presents a novel control strategy that deals with time-delay micropositioning systems aimed at achieving precise positioning by combining an open-loop control with a modified SMC scheme. The proposed SMC with dynamical correction (SMC-WDC) uses the dynamical system model to adapt the SMC inputs and avoid undesirable control response caused by delays. In order to develop the SMC-WDC scheme, an exhaustive analysis on the micropositioning system was first performed. Then, a mixed control strategy, combining inverse open-loop control and SMC-WDC, was developed. The performance of the presented control scheme was analyzed and compared experimentally with other control strategies (i.e., PI and SMC with saturation and hyperbolic functions) using different reference signals. It was found that the SMC-WDC strategy presents the best performance, that is, the fastest response and highest accuracy, especially against sudden changes of reference setpoints (frequencies >10 Hz). Additionally, if the setpoint reference frequencies are higher than 10 Hz, high integral gains are counterproductive (since the control response increases the delay), although if frequencies are below 1 Hz the integral control delay does not affect the system’s accuracy. The SMC-WDC proved to be an effective strategy for micropositioning systems, dealing with time delay and other uncertainties to achieve the setpoint command fast and precisely without chattering. MDPI 2019-12-27 /pmc/articles/PMC6981594/ /pubmed/31892249 http://dx.doi.org/10.3390/ma13010132 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Velasco, Javier Barambones, Oscar Calvo, Isidro Zubia, Joseba Saez de Ocariz, Idurre Chouza, Ander Sliding Mode Control with Dynamical Correction for Time-Delay Piezoelectric Actuator Systems |
title | Sliding Mode Control with Dynamical Correction for Time-Delay Piezoelectric Actuator Systems |
title_full | Sliding Mode Control with Dynamical Correction for Time-Delay Piezoelectric Actuator Systems |
title_fullStr | Sliding Mode Control with Dynamical Correction for Time-Delay Piezoelectric Actuator Systems |
title_full_unstemmed | Sliding Mode Control with Dynamical Correction for Time-Delay Piezoelectric Actuator Systems |
title_short | Sliding Mode Control with Dynamical Correction for Time-Delay Piezoelectric Actuator Systems |
title_sort | sliding mode control with dynamical correction for time-delay piezoelectric actuator systems |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6981594/ https://www.ncbi.nlm.nih.gov/pubmed/31892249 http://dx.doi.org/10.3390/ma13010132 |
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