Optimal-control methods for design of two-degree-freedom systems for nanopositioning

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents, reviews, compares, and analyzes optimal-control methods for designing two-degree-of-freedom (2DOF) control laws for nanopositioning. The different methods are motivated by various practical scenarios and difficulty in achieving simultaneously multiple performance objectives of resolution, bandwidth, and robustness by tuning-based or shaping-of-open-loop-plants based designs. In this context, we study fundamental trade-offs between these performance objectives in 2DOF control designs for nanopositioning systems. In particular, in terms of the trade-offs, our analysis shows that the primary role of feedback is providing robustness to the closed-loop device whereas the feedforward component is mainly effective in overcoming fundamental algebraic constraints that limit the feedback-only designs. Experimental results indicate substantial improvements (over 200% in bandwidth) when compared to optimal feedback-only controllers.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages1501-1508
Number of pages8
EditionPART B
ISBN (Print)9780791848920
DOIs
StatePublished - Jan 1 2010
Event2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States
Duration: Oct 12 2009Oct 14 2009

Publication series

NameProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
NumberPART B

Other

Other2009 ASME Dynamic Systems and Control Conference, DSCC2009
CountryUnited States
CityHollywood, CA
Period10/12/0910/14/09

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Lee, C., & Salapaka, S. M. (2010). Optimal-control methods for design of two-degree-freedom systems for nanopositioning. In Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009 (PART B ed., pp. 1501-1508). (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART B). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2009-2784