Compensating asymmetric hysteresis for nanorobot motion control

Zhiyong Sun, Bo Song, Ning Xi, Ruiguo Yang, Lina Hao, Liangliang Chen

Research output: Contribution to journalConference article

19 Citations (Scopus)

Abstract

Atomic force microscopy (AFM) is a powerful measurement instrument, which has been widely implemented in various fields. To enhance the maneuverability, an AFM can be modified and its cantilever can be controlled as a robotic end-effector. To precisely control the nanorobots, their scanners inherent hysteresis, which is the main disadvantage, should be compensated sufficiently. Mostly, hysteresis compensators used in AFM control system only employ the symmetric models, which cannot well represent the asymmetric hysteresis phenomena of piezo-scanners. However, under many cases, the smart material based scanners possess asymmetric hysteresis slightly or seriously, which is far more complex than the regular symmetric case; in addition, for commercial or customized AFMs, the scanners are usually controlled without feedback. These drawbacks tackle further improvement of positioning accuracy of AFM systems. To effectively describe and further reduce the hysteresis of general cases, we propose a new type of generalized Prandtl-Ishlinskii (PI) operator based superposition model, named unparallel PI (UPI) model. The flexible edge of the UPI operator can be tilted freely within a defined range, which enables it to capture asymmetric hysteresis efficiently. To cancel the hysteresis effect in an open-loop system, three inverse compensation approaches are proposed, compared, and the corresponding stability is analyzed. Experiments with AFM based nanorobot verified the proposed approaches with convincing performance.

Original languageEnglish (US)
Article number7139683
Pages (from-to)3501-3506
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2015-June
Issue numberJune
DOIs
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Fingerprint

Nanorobots
Motion control
Hysteresis
Atomic force microscopy
Intelligent materials
Maneuverability
End effectors
Robotics
Feedback
Control systems

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Compensating asymmetric hysteresis for nanorobot motion control. / Sun, Zhiyong; Song, Bo; Xi, Ning; Yang, Ruiguo; Hao, Lina; Chen, Liangliang.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2015-June, No. June, 7139683, 29.06.2015, p. 3501-3506.

Research output: Contribution to journalConference article

Sun, Zhiyong ; Song, Bo ; Xi, Ning ; Yang, Ruiguo ; Hao, Lina ; Chen, Liangliang. / Compensating asymmetric hysteresis for nanorobot motion control. In: Proceedings - IEEE International Conference on Robotics and Automation. 2015 ; Vol. 2015-June, No. June. pp. 3501-3506.
@article{97bdfc9e52de4450b7f0f58a49f53408,
title = "Compensating asymmetric hysteresis for nanorobot motion control",
abstract = "Atomic force microscopy (AFM) is a powerful measurement instrument, which has been widely implemented in various fields. To enhance the maneuverability, an AFM can be modified and its cantilever can be controlled as a robotic end-effector. To precisely control the nanorobots, their scanners inherent hysteresis, which is the main disadvantage, should be compensated sufficiently. Mostly, hysteresis compensators used in AFM control system only employ the symmetric models, which cannot well represent the asymmetric hysteresis phenomena of piezo-scanners. However, under many cases, the smart material based scanners possess asymmetric hysteresis slightly or seriously, which is far more complex than the regular symmetric case; in addition, for commercial or customized AFMs, the scanners are usually controlled without feedback. These drawbacks tackle further improvement of positioning accuracy of AFM systems. To effectively describe and further reduce the hysteresis of general cases, we propose a new type of generalized Prandtl-Ishlinskii (PI) operator based superposition model, named unparallel PI (UPI) model. The flexible edge of the UPI operator can be tilted freely within a defined range, which enables it to capture asymmetric hysteresis efficiently. To cancel the hysteresis effect in an open-loop system, three inverse compensation approaches are proposed, compared, and the corresponding stability is analyzed. Experiments with AFM based nanorobot verified the proposed approaches with convincing performance.",
author = "Zhiyong Sun and Bo Song and Ning Xi and Ruiguo Yang and Lina Hao and Liangliang Chen",
year = "2015",
month = "6",
day = "29",
doi = "10.1109/ICRA.2015.7139683",
language = "English (US)",
volume = "2015-June",
pages = "3501--3506",
journal = "Proceedings - IEEE International Conference on Robotics and Automation",
issn = "1050-4729",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "June",

}

TY - JOUR

T1 - Compensating asymmetric hysteresis for nanorobot motion control

AU - Sun, Zhiyong

AU - Song, Bo

AU - Xi, Ning

AU - Yang, Ruiguo

AU - Hao, Lina

AU - Chen, Liangliang

PY - 2015/6/29

Y1 - 2015/6/29

N2 - Atomic force microscopy (AFM) is a powerful measurement instrument, which has been widely implemented in various fields. To enhance the maneuverability, an AFM can be modified and its cantilever can be controlled as a robotic end-effector. To precisely control the nanorobots, their scanners inherent hysteresis, which is the main disadvantage, should be compensated sufficiently. Mostly, hysteresis compensators used in AFM control system only employ the symmetric models, which cannot well represent the asymmetric hysteresis phenomena of piezo-scanners. However, under many cases, the smart material based scanners possess asymmetric hysteresis slightly or seriously, which is far more complex than the regular symmetric case; in addition, for commercial or customized AFMs, the scanners are usually controlled without feedback. These drawbacks tackle further improvement of positioning accuracy of AFM systems. To effectively describe and further reduce the hysteresis of general cases, we propose a new type of generalized Prandtl-Ishlinskii (PI) operator based superposition model, named unparallel PI (UPI) model. The flexible edge of the UPI operator can be tilted freely within a defined range, which enables it to capture asymmetric hysteresis efficiently. To cancel the hysteresis effect in an open-loop system, three inverse compensation approaches are proposed, compared, and the corresponding stability is analyzed. Experiments with AFM based nanorobot verified the proposed approaches with convincing performance.

AB - Atomic force microscopy (AFM) is a powerful measurement instrument, which has been widely implemented in various fields. To enhance the maneuverability, an AFM can be modified and its cantilever can be controlled as a robotic end-effector. To precisely control the nanorobots, their scanners inherent hysteresis, which is the main disadvantage, should be compensated sufficiently. Mostly, hysteresis compensators used in AFM control system only employ the symmetric models, which cannot well represent the asymmetric hysteresis phenomena of piezo-scanners. However, under many cases, the smart material based scanners possess asymmetric hysteresis slightly or seriously, which is far more complex than the regular symmetric case; in addition, for commercial or customized AFMs, the scanners are usually controlled without feedback. These drawbacks tackle further improvement of positioning accuracy of AFM systems. To effectively describe and further reduce the hysteresis of general cases, we propose a new type of generalized Prandtl-Ishlinskii (PI) operator based superposition model, named unparallel PI (UPI) model. The flexible edge of the UPI operator can be tilted freely within a defined range, which enables it to capture asymmetric hysteresis efficiently. To cancel the hysteresis effect in an open-loop system, three inverse compensation approaches are proposed, compared, and the corresponding stability is analyzed. Experiments with AFM based nanorobot verified the proposed approaches with convincing performance.

UR - http://www.scopus.com/inward/record.url?scp=84938237668&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84938237668&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2015.7139683

DO - 10.1109/ICRA.2015.7139683

M3 - Conference article

AN - SCOPUS:84938237668

VL - 2015-June

SP - 3501

EP - 3506

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

IS - June

M1 - 7139683

ER -