[Back]


Talks and Poster Presentations (with Proceedings-Entry):

S. Ito, J. Steininger, G. Schitter:
"Sliding Mode and PID Control of a Dual Stage Actuator for Precision Positioning";
Talk: 19th IFAC World Congress, Cape Town (South Africa); 08-24-2014 - 08-29-2014; in: "Proceedings of the 19th World Congress of the International Federation of Automatic Control", International Federation of Automatic Control, 19/1 (2014), ISBN: 978-3-902823-62-5; 6550 - 6555.



English abstract:
Actuators composing dual stage actuation usually have different purposes and
mechanisms to complement each other. Hence, they potentially have different types of control
challenges to achieve high-precision motion performance. This paper presents the use of singleinput
single-output controllers to efficiently overcome the potential problems by selecting proper
control techniques to each actuator. The setup is a low-stiffness dual stage actuator capable
of positioning with nanometer resolution without additional vibration isolation. The system
consists of a CD/DVD laser pickup and a linear motor with roller bearings, which suffer from
environmental vibrations and friction, respectively. By selecting and implementing a tamed
PID controller for the pickup and a sliding mode controller for the linear motor, the dual stage
actuator is able to move over 100mm with a maximum velocity of 0.34 m/s and position with
a static precision of 2.5nm (peak-to-peak).

Created from the Publication Database of the Vienna University of Technology.