Abstract
Robust and adaptive nonlinear controllers play an indispensable role in industrial applications targeting nanopositioning. Internal model control has been widely used in compensation of hysteresis, creep and vibration for piezoelectric actuators along with least-square estimator regimes. However, as real-time scenarios and presence of uncertainties, disturbances play a crucial factor in determining the efficacy of the chosen controller, a comparative analysis is very effective in this situation. This research focuses on an extensive comparative analysis of two controllers, namely, modified-internal model control (M-IMC) and recursive least-square estimator (RLSE) under several test cases. Results put forward which controller is effective under what scenario that enhances the overall precision positioning efficiency of the system.
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Jana, S., Shome, S.K., Mukherjee, A., Bhattacharjee, P. (2022). Comparative Performance Study of Different Controllers for Nonlinear Piezoelectric Stack Actuator. In: Gu, J., Dey, R., Adhikary, N. (eds) Communication and Control for Robotic Systems. Smart Innovation, Systems and Technologies, vol 229. Springer, Singapore. https://doi.org/10.1007/978-981-16-1777-5_2
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DOI: https://doi.org/10.1007/978-981-16-1777-5_2
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