Enhanced Tracking for Nanopositioning Systems Using Feedforward/Feedback Multivariable Control Design

Kara-Mohamed, Mohamed and Heath, William and Lanzon, Alexander (2015) Enhanced Tracking for Nanopositioning Systems Using Feedforward/Feedback Multivariable Control Design. IEEE Transactions on Control Systems Technology, 23 (3). pp. 1003-1013.

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Abstract

This paper proposes a systematic synthesis methodology
for a combined feedforward/feedback architecture to
control multiple-input, multiple-output nanopositioning systems. Coprime factorization of the open loop model is used to design the reference and feedforward filters of the proposed control scheme to achieve enhanced tracking, eliminate the limitation of the feedback on tracking performance, and increase the bandwidth of the
closed-loop system. Two types of coprime factorization, namely inner–outer factorization and normalized coprime factorization are discussed. A case study based on hardware experiment is presented to analyze the proposed control architecture and demonstrate its superiority over feedback-only control. In addition to the no-load case, the performance of the system is also tested with loads on the nanopositioning stage.

Item Type:	Article
Identification Number:	10.1109/TCST.2014.2360498
Dates:	Date Event 2015 Published
Uncontrolled Keywords:	Feedback, feedforward, multivariable control design, nanopositioning, tracking.
Subjects:	CAH10 - engineering and technology > CAH10-01 - engineering > CAH10-01-01 - engineering (non-specific)
Divisions:	Faculty of Computing, Engineering and the Built Environment > College of Engineering
Depositing User:	Ian Mcdonald
Date Deposited:	15 Dec 2016 10:57
Last Modified:	20 Jun 2024 11:51
URI:	https://www.open-access.bcu.ac.uk/id/eprint/3707