Adaptive Kalman filter and dynamic recurrent neural networks-based control design of macro-micro manipulator

作者：Zhang, Lijun^*; Yang, Lixin; Sun, Lining; Zhang, Xingwen

来源：Journal of Control Theory and Applications, 2012, 10(4): 504-510.

DOI：10.1007/s11768-012-0267-8

• Adaptive inverse control
• Adaptive kalman filter
• Dynamic recurrent neural networks
• High acceleration and high precision
• Hysteresis non linearities
• Macro-micro dual-drive
• Macro-micro dual-drive positioning stages
• Macro-micro manipulator

In this paper, a composite control scheme for macro-micro dual-drive positioning stage with high acceleration and high precision is proposed. The objective of control is to improve the precision by reducing the influence of system vibration and external noise. The positioning stage is composed of voice coil motor (VCM) as macro driver and piezoelectric actuator (PEA) as micro driver. The precision of the macro drive positioning stage is improved by the combined PID control with adaptive Kalman filter (AKF). AKF is used to compensate VCM vibration (as the virtual noise) and the external noise. The control scheme of the micro drive positioning stage is presented as the integrated one with PID and intelligent adaptive inverse control approach to compensate the positioning error caused by macro drive positioning stage. A dynamic recurrent neural networks (DRNN) based inverse control approach is proposed to offset the hysteresis nonlinearity of PEA. Simulations show the positioning precision of macro-micro dual-drive stage is clearly improved via the proposed control scheme.

• 出版日期2012
• 单位哈尔滨工程大学; 西北工业大学; 北京大学