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Model-free control of a 3-DOF piezoelectric nanopositioning platform

Rodriguez-Fortun, José Manuel and Rotella, Frédéric and Alfonso, Jesus and Carrillo, Francisco Javier and Orus, Javier Model-free control of a 3-DOF piezoelectric nanopositioning platform. (2013) In: Conference on Decision and Control, 10 December 2013 - 13 December 2013 (Florence, Italy).

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A model-free controller is designed for a nanopositioning platform with three degrees of fredom. The system is specially difficult to control because of the coupling between the different movements and the hysteresis present in the piezoelectric actuators. The authors propose a control design methodology based in the so called ultra-local system description. The developed controller has been implemented and validated on a real test bench and it has proven a good performance in handling the nonlinearities and the uncertainties present in the platform.

Item Type:Conference or Workshop Item (Paper)
Additional Information:IEEE refusant la diffusion des actes de conférences dans OATAO et HAL, ce document est en accès restreint.
HAL Id:hal-04086527
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Other partners > Instituto Tecnologico de Aragon - ITA (SPAIN)
Laboratory name:
Deposited On:23 Jan 2014 12:34

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