Conference Proceedings

Special class of positive definite functions for formulating adaptive micro/nano manipulator control

Hwee Choo Liaw, Denny Oetomo, Gursel Alici, Bijan Shirinzadeh

9TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS | IEEE | Published : 2006

Abstract

This paper presents a special class of positive definite functions for the formulation of adaptive control strategies, specifically in the research of an effective control algorithm for piezoelectric actuation systems in micro/nano manipulation. To deal with the control problems of unknown system parameters, nonlinear hysteresis effects, and disturbances in the piezoelectric actuation systems, an adaptive control methodology is proposed. Using the saturation function derived from a positive definite function to formulate the control methodology, the closed-loop system stability can be guaranteed. Furthermore, the control methodology is proposed to track a desired motion trajectory in positio..

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Funding Acknowledgements

This work is supported by an Australian Research Council LIEF grant, an Australian Research Council Discovery grant, and the Monash Research Fund