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Analog Robust Repetitive Control For Nanopositioning Using Bucket Brigade Devices.pdf

EielsenAA_2014.pdf
Preview of Analog Robust Repetitive Control for Nanopositioning Using Bucket Brigade Devices
🔗 Source: kam.k.leang.com
📊 Size: 4.19 MB
📄 Pages: 8 pages
⬇️ Downloads: 355

Summary

RC excels at tracking fast periodic reference trajectories with high accuracy. Key contributions include:


Analog Bucket Brigade Device (BBD) Implementation: Instead of digital signal processing, a BBD is used to introduce time-delay in the control loop. BBDs offer low noise performance (up to 80-90 dB dynamic range), comparable to 16-bit ADCs, and are cost-effective alternatives.
 Robust Control Scheme: The proposed control scheme combines a modified integral control law with the traditional repetitive control law. This ensures robustness against plant uncertainty, including variations in payload mass, actuator characteristics, and environmental factors.
* Experimental Validation: Experimental results demonstrate the effectiveness of the analog BBD-based RC scheme, showcasing its ability to achieve high tracking accuracy and robustness in nanopositioning systems.

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Description

A robust repetitive control method for nanopositioning using Bucket Brigade Devices (BBDs) enables precise tracking of fast periodic reference trajectories in applications like scanning probe microscopy by leveraging time-delay implementation via digital signal processing. This approach requires high-speed microcontrollers or Field-Programmable Gate Arrays (FPGAs) for optimal performance with low noise.

Technical Information

  • File Format: PDF
  • File Size: 4.19 MB
  • Pages: 8
  • Language: EN
  • Total Downloads: 355
  • Last Updated: 6 days ago

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