Case Studies of Precise Actuator Applications
This chapter is devoted to three case studies involving the application of precise actuators. The main purpose of this chapter is to highlight the key issues involved in the practical application of motion control to real precise actuators and bring forth the motivation behind the work in preceding chapters.
The first case study describes a robust adaptive control method for positioning piezoelectric actuators (ultrasonic motor) to achieve highly precise motion. The model employed to describe the motor is a second-order linear model plus a nonlinear part comprising predominantly a dynamical hysteresis. Based on the model, the overall control algorithm uses a proportional-integral-derivative (PID) ...
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