An LQG/LTR approach towards piezoactuator vibration reduction with observer-based hysteresis compensation

Lukasz Ryba (1, 2) , Alina Voda (1) , Gildas Besancon (2)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

This paper presents a SISO robust control of some lightly damped micro-/nanopositioning system equipped with a piezoactuator. The adverse phenomenon of nonlinear hysteresis in the actuator is first compensated using an observer-based approach. Then an LQG/LTR method is proposed to additionally reduce vibrations affecting the system in a higher frequency range. Illustrative experimental results show a signi ficant improvement of the closed-loop system behaviour with respect to the open-loop one.

Mots clés: vibration; hysteresis; observer; robust control; LQG/LTR; Micro-/Nanopositioning

Domaines: Automatique / Robotique

Lukasz Ryba, Alina Voda, Gildas Besancon. An LQG/LTR approach towards piezoactuator vibration reduction with observer-based hysteresis compensation. IFAC WC 2014 - 19th IFAC World Congress, Aug 2014, Le Cap, South Africa. pp.n/c. ⟨hal-00981536⟩