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- W4294692094 abstract "In this work, a discrete sliding-mode control scheme is presented for dual-stage nanopositioning systems. The dual-stage structure consists of a long-range, low-speed actuator that displaces a short-range, high-speed, high-precision actuator. A discrete trajectory-tracking sliding-mode control law based on an input-output model is derived for dual-input, single-output nanopositioning systems. A difference equation formulation for the sliding surface is chosen to mitigate trajectory frequency transmission from the sliding variable to the error signal. The short-range actuator control effort is calculated based on this sliding variable, filtered based on its range characteristics, and the change in reference trajectory. The long-range actuator control law is formulated to account for this additional effort while satisfying the discrete reaching law condition. Simulations are conducted on linear and nonlinear models of a dual-stage positioner for low- and high-speed triangular reference trajectories. Results show approximately 30% improvement in the maximum error and an 18.8% root-mean-square error reduction over a long-range actuator sliding-mode control formulation for trajectories well beyond the typical closed-loop bandwidth of the device’s long-range actuator." @default.
- W4294692094 created "2022-09-06" @default.
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- W4294692094 date "2022-06-08" @default.
- W4294692094 modified "2023-10-16" @default.
- W4294692094 title "Discrete Input-Output Sliding-Mode Control with Range Compensation: Application in High-Speed Nanopositioning" @default.
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- W4294692094 doi "https://doi.org/10.23919/acc53348.2022.9867401" @default.
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