摘要
In this paper, a robust repetitive control for time delay systems is investigated supporting high precision tracking of nano-manipulating systems. To handle the time delay of such systems, the repetitive control structure is reformulated and the design of q filter is converted to the mixed sensitivity optimization of infinite dimensional systems, where Skew-Toeplitz based approach is used for controller synthesis. Real time experiments on a nano-manipulator are also deployed, where various periodic tracking results demonstrate the effectiveness of the proposed algorithm. The proposed algorithm has good potentials for high speed scanning applications such as AFM(Atomic Force Microscope) and STM(Scanning Tunneling Microscopy).
In this paper, a robust repetitive control for time delay systems is investigated supporting high precision tracking of nano-manipulating systems. To handle the time delay of such systems, the repetitive control structure is reformulated and the design of q filter is converted to the mixed sensitivity optimization of infinite dimensional systems, where Skew-Toeplitz based approach is used for controller synthesis. Real time experiments on a nano-manipulator are also deployed, where various periodic tracking results demonstrate the effectiveness of the proposed algorithm. The proposed algorithm has good potentials for high speed scanning applications such as AFM(Atomic Force Microscope) and STM(Scanning Tunneling Microscopy).
引文
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