Active disturbance rejection control for nanopositioning: A robust U-model approach

Wei Wei; Bowen Duan; Weicun Zhang; Min Zuo

doi:10.1016/j.isatra.2021.11.035

Active disturbance rejection control for nanopositioning: A robust U-model approach

ISA Trans. 2022 Sep;128(Pt B):599-610. doi: 10.1016/j.isatra.2021.11.035. Epub 2021 Dec 10.

Authors

Wei Wei¹, Bowen Duan², Weicun Zhang³, Min Zuo⁴

Affiliations

¹ School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China; School of Computer and Information Engineering, Beijing Technology and Business University, Beijing 100048, China.
² School of Computer and Information Engineering, Beijing Technology and Business University, Beijing 100048, China.
³ School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China.
⁴ School of Computer and Information Engineering, Beijing Technology and Business University, Beijing 100048, China; National Engineering Laboratory for Agri-product Quality Traceability,Beijing Technology and Business University, Beijing 100048, China. Electronic address: zuomin@btbu.edu.cn.

PMID: 34973692
DOI: 10.1016/j.isatra.2021.11.035

Abstract

Hysteresis severely reduces positioning performance of a piezoelectric nanopositioning stage. Linear active disturbance rejection control (LADRC) is a practical solution to improve the positioning accuracy. However, the PD controller utilized in the LADRC is not effective enough to suppress the uncancelled total disturbance, and high-order pure integrators are difficult to be stabilized just by a PD controller. In this work, a robust U-model active disturbance rejection control (RUADRC) is proposed by incorporating the core idea of the U-model control and the Glover-McFarlane control. Then, the controlled plant can be dynamically transformed to a unit. Difficulties in stabilizing high-order pure integrators are decreased, the phase lag between the input and output of a controlled plant is reduced, and the closed-loop responses is sped up. In addition, the influence of both inaccurate total disturbance estimation and imperfect approximation is also minimized by the Glover-McFarlane control Closed-loop stability, steady-state tracking error, and the phase advantage of the RUADRC have been analysed. Theoretical results show that the RUADRC promises a timelier and more accurate positioning. Experimental results still confirm the advantages of the RUADRC over the LADRC on both reference tracking speed, accuracy and disturbance rejection ability.

Keywords: Hysteresis; LADRC; Nanopositioning; Piezoelectric actuator; U-model control.