research-article

Impulsive control for nanopositioning: stability and performance

Authors:

Tomas Tuma,

Angeliki Pantazi,

John Lygeros,

Abu SebastianAuthors Info & Claims

HSCC '11: Proceedings of the 14th international conference on Hybrid systems: computation and control

Pages 173 - 180

https://doi.org/10.1145/1967701.1967727

Published: 12 April 2011 Publication History

Get Access

Abstract

In this paper, impulsive control is applied to a class of linear feedback systems and studied both theoretically and experimentally, with a particular focus on the usage in nanopositioning. By using impulsive control, improvements in tracking performance and tolerance to measurement noise can be achieved which are beyond the limits of conventional linear feedback.

We derive sufficient conditions for bounded-input-bounded-state stability of the resulting hybrid systems, investigate their performance and unveil an inherent connection to the recently published signal transformation approach. It is demonstrated that for a triangular reference signal, impulsive control outperforms the signal transformation approach both in terms of performance and implementation complexity. Furthermore, we show that the measurement noise-induced positioning error of an impulsive feedback system is significantly lower than in case of a comparable, conventional linear feedback. The experimental results are obtained on a fast microelectromechanical nanopositioner.

References

[1]

S. M. Salapaka and M. V. Salapaka. Scanning probe microscopy. IEEE Control Systems Magazine, 28 (2):65--83, 2008.

Crossref

Google Scholar

[2]

A. Sebastian, A. Pantazi, H. Pozidis, and E. Eleftheriou. Nanopositioning for probe-based data storage. IEEE Control Systems Magazine, 28 (4):26--35, 2008.

Crossref

Google Scholar

[3]

C. Lee and S. M. Salapaka. Robust broadband nanopositioning: fundamental trade-offs, analysis, and design in a two-degree-of-freedom control framework. Nanotechnology, 20 (3):035501, 2009.

Crossref

Google Scholar

[4]

A. Sebastian, A. Pantazi, S. O. R. Moheimani, H. Pozidis, and E. Eleftheriou. Achieving subnanometer precision in a MEMS-based storage device during self-servo write process. IEEE Transactions on Nanotechnology, 7 (5):586--595, 2008.

Digital Library

Google Scholar

[5]

D. Liberzon. Switching in systems and control. Systems & Control: Foundations & Applications. Birkhäuser Boston Inc., 2003.

Crossref

Google Scholar

[6]

T. Tuma, A. Pantazi, J. Lygeros, and A. Sebastian. Tracking of high frequency piecewise affine signals using impulsive control. Proceedings of the 5th IFAC Symposium on Mechatronic Systems, pages 90--95, 2010.

Crossref

Google Scholar

[7]

A. Sebastian and S. O. R. Moheimani. Signal transformation approach to fast nanopositioning. Review of scientific instruments, 80 (7):076101, 2009.

Google Scholar

[8]

D. D. Bainov and P. S. Simeonov. Systems with impulse effect: Stability, theory and applications. Ellis Horwood Ltd., 1989.

Google Scholar

[9]

S. O. R. Moheimani and B. J. G. Vautier. Resonant control of structural vibration using charge-driven piezoelectric actuators. IEEE Transactions on Control Systems Technology, 13(6):1021--1035, 2005.

Crossref

Google Scholar

[10]

A. J. Fleming and S. O. R. Moheimani. Sensorless vibration suppression and scan compensation for piezoelectric tube nanopositioners. IEEE Transactions on Control System Technology, 14(1):33--44, January 2006.

Crossref

Google Scholar

[11]

M. A. Lantz, H. E. Rothuizen, U. Drechsler, W. Häberle, and M. Despont. A vibration resistant nanopositioner for mobile parallel-probe storage applications. Journal of Microelectromechanical Systems, 16 (1):130--139, 2007.

Crossref

Google Scholar

[12]

M. A. Lantz, G. K. Binnig, M. Despont, and U. Drechsler. A micromechanical thermal displacement sensor with nanometer resolution. Nanotechnology, 16:1089--1094, 2005.

Crossref

Google Scholar

[13]

A. Pantazi, A. Sebastian, G. Cherubini, M. Lantz, H. Pozidis, H. Rothuizen, and E. Eleftheriou. Control of MEMS-based scanning-probe data-storage devices. IEEE Transactions on Control Systems Technology, 15:824--841, 2007.

Crossref

Google Scholar

[14]

S. Skogestad and I. Postletwaithe. Multivariable feedback control. John Wiley and Sons, 1996.

Digital Library

Google Scholar

Cited By

View all

Bazaei AChen ZYong YMoheimani S(2018)A Novel State Transformation Approach to Tracking of Piecewise Linear TrajectoriesIEEE Transactions on Control Systems Technology10.1109/TCST.2017.265406126:1(128-138)Online publication date: Jan-2018
https://doi.org/10.1109/TCST.2017.2654061
Zhang WPang MRu C(2016)Nanopositioning for Lithography and Data StorageNanopositioning Technologies10.1007/978-3-319-23853-1_12(381-409)Online publication date: 2016
https://doi.org/10.1007/978-3-319-23853-1_12
Bazaei AMoheimani SYong Y(2014)Improvement of Transient Response in Signal Transformation Approach by Proper Compensator InitializationIEEE Transactions on Control Systems Technology10.1109/TCST.2013.226187522:2(729-736)Online publication date: Mar-2014
https://doi.org/10.1109/TCST.2013.2261875
Show More Cited By

Index Terms

Impulsive control for nanopositioning: stability and performance
1. Applied computing
  1. Physical sciences and engineering
2. Mathematics of computing

Recommendations

Exponential stability of Cohen-Grossberg-type BAM neural networks with time-varying delays via impulsive control

In this paper, a class of Cohen-Grossberg-type BAM neural networks with time-varying delays are studied. Some sufficient conditions are established for the existence, uniqueness and exponential stability of the equilibrium point by using Lyapunov ...
Robust Exponential Stabilization Results for Impulsive Neutral Time-Delay Systems with Sector-Bounded Nonlinearity

In this paper, the problem of robust exponential stabilization analysis for nonlinear neutral systems with time-varying delays under impulsive control is addressed. Sufficient delay-dependent exponential stabilization results are derived in terms of ...
Global Asymptotic Stabilization of Cellular Neural Networks with Proportional Delay via Impulsive Control
Abstract
This paper considers the global asymptotic stabilization of a class of cellular neural networks with proportional delay via impulsive control. First, from impulsive control point of view, some delay-dependent criteria are established to guarantee ...

Comments

Information & Contributors

Information

Published In

HSCC '11: Proceedings of the 14th international conference on Hybrid systems: computation and control

April 2011

330 pages

ISBN:9781450306294

DOI:10.1145/1967701

General Chair:
Marco Caccamo
University of Illinois at Urbana-Champaign, USA
,
Program Chairs:
Emilio Frazzoli
Massachusetts Institute of Technology, USA
,
Radu Grosu
State University of New York at Stony Brook, USA

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

In-Cooperation

IEEE

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 12 April 2011

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article

Conference

HSCC '11

Sponsor:

SIGBED

HSCC '11: Hybrid Systems: Computation and Control

April 12 - 14, 2011

IL, Chicago, USA

Acceptance Rates

Overall Acceptance Rate 153 of 373 submissions, 41%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

8
Total Citations
View Citations
152
Total Downloads

Downloads (Last 12 months)2
Downloads (Last 6 weeks)0

Reflects downloads up to 12 Jan 2025

Other Metrics

View Author Metrics

Citations

Cited By

View all

Bazaei AChen ZYong YMoheimani S(2018)A Novel State Transformation Approach to Tracking of Piecewise Linear TrajectoriesIEEE Transactions on Control Systems Technology10.1109/TCST.2017.265406126:1(128-138)Online publication date: Jan-2018
https://doi.org/10.1109/TCST.2017.2654061
Zhang WPang MRu C(2016)Nanopositioning for Lithography and Data StorageNanopositioning Technologies10.1007/978-3-319-23853-1_12(381-409)Online publication date: 2016
https://doi.org/10.1007/978-3-319-23853-1_12
Bazaei AMoheimani SYong Y(2014)Improvement of Transient Response in Signal Transformation Approach by Proper Compensator InitializationIEEE Transactions on Control Systems Technology10.1109/TCST.2013.226187522:2(729-736)Online publication date: Mar-2014
https://doi.org/10.1109/TCST.2013.2261875
Tuma TPantazi ALygeros JSebastian A(2013)Nanopositioning With Impulsive State Multiplication: A Hybrid Control ApproachIEEE Transactions on Control Systems Technology10.1109/TCST.2012.220515021:4(1352-1364)Online publication date: Jul-2013
https://doi.org/10.1109/TCST.2012.2205150
Tuma TSebastian ALygeros JPantazi A(2013)A Hybrid Control Approach to NanopositioningSmart Materials-Based Actuators at the Micro/Nano-Scale10.1007/978-1-4614-6684-0_5(89-120)Online publication date: 21-May-2013
https://doi.org/10.1007/978-1-4614-6684-0_5
Bazaei AMoheimani S(2012)Improving transient performance of signal transformation approach2012 IEEE 51st IEEE Conference on Decision and Control (CDC)10.1109/CDC.2012.6426029(5059-5064)Online publication date: Dec-2012
https://doi.org/10.1109/CDC.2012.6426029
Tuma TPantazi ALygeros JSebastian A(2012)Comparison of two non-linear control approaches to fast nanopositioning: Impulsive control and signal transformationMechatronics10.1016/j.mechatronics.2011.09.01122:3(302-309)Online publication date: Apr-2012
https://doi.org/10.1016/j.mechatronics.2011.09.011
Eleftheriou E(2012)Nanopositioning for storage applicationsAnnual Reviews in Control10.1016/j.arcontrol.2012.09.00636:2(244-254)Online publication date: Dec-2012
https://doi.org/10.1016/j.arcontrol.2012.09.006

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Cited By

Index Terms

Recommendations

Exponential stability of Cohen-Grossberg-type BAM neural networks with time-varying delays via impulsive control

Robust Exponential Stabilization Results for Impulsive Neutral Time-Delay Systems with Sector-Bounded Nonlinearity

Global Asymptotic Stabilization of Cellular Neural Networks with Proportional Delay via Impulsive Control

Comments

Published In

Sponsors

In-Cooperation

Publisher

Publication History

Permissions

Check for updates

Author Tags

Qualifiers

Conference

Acceptance Rates

Other Metrics

Article Metrics

Other Metrics

Cited By

Login options

Full Access

PDF

eReader

Abstract

References

Cited By

Index Terms

Recommendations

Exponential stability of Cohen-Grossberg-type BAM neural networks with time-varying delays via impulsive control

Robust Exponential Stabilization Results for Impulsive Neutral Time-Delay Systems with Sector-Bounded Nonlinearity

Global Asymptotic Stabilization of Cellular Neural Networks with Proportional Delay via Impulsive Control

Comments

Information

Published In

Sponsors

In-Cooperation

Publisher

Publication History

Permissions

Check for updates

Author Tags

Qualifiers

Conference

Acceptance Rates

Contributors

Other Metrics

Bibliometrics

Article Metrics

Other Metrics

Citations

Cited By

Login options

Full Access

View options

PDF

eReader

Figures

Other

Share

Share this Publication link

Share on social media

Affiliations