Experimental Analysis of Fuzzy Gain-Scheduled PID Controller With a Feedforward Compensator for an Ultra-Precise Piezoactuated Micropositioning Stage
The piezoactuated micropositioning stage discussed in this study employs an all-ceramic insulation and a flexure-guide mechanism. It demonstrates remarkable capabilities, including achieving subnanometer resolution, high positioning accuracy, rapid response, and a high load capacity. The successful...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10870216/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1823857126450135040 |
|---|---|
| author | Hussain Kahil Irfan Ahmad Yasser Bin Salamah |
| author_facet | Hussain Kahil Irfan Ahmad Yasser Bin Salamah |
| author_sort | Hussain Kahil |
| collection | DOAJ |
| description | The piezoactuated micropositioning stage discussed in this study employs an all-ceramic insulation and a flexure-guide mechanism. It demonstrates remarkable capabilities, including achieving subnanometer resolution, high positioning accuracy, rapid response, and a high load capacity. The successful operation of this stage relies on the crucial role played by piezoelectric actuators. However, the inherent nonlinear hysteresis characteristics of these actuators, if not compensated for, can significantly compromise the precision of the positioning. This paper presents an experimental analysis of the piezoactuated micropositioning stage studied. Initially, a conventional proportional-integral-derivative (PID) feedback controller is utilized. Subsequently, intelligent fuzzy and fuzzy gain-scheduled PID feedback controllers are implemented, along with a hysteresis feedforward compensator. The main objective is to achieve ultra-precise positioning while avoiding the complexities associated with inverse hysteresis modeling. The experimental results from the piezoactuated micropositioning stage demonstrate the effectiveness of the intelligent fuzzy gain-scheduled PID controller with a feedforward compensator in achieving precise positioning. The peak-to-peak tracking error is 0.5% of the <inline-formula> <tex-math notation="LaTeX">$12\mu $ </tex-math></inline-formula>m, 10Hz reference trajectory, marking a 54% and 88% performance improvement over the intelligent fuzzy controller, and classical PID controller, respectively. |
| format | Article |
| id | doaj-art-4df5583d033341ca9b40de58a29e33d8 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-4df5583d033341ca9b40de58a29e33d82025-02-12T00:02:19ZengIEEEIEEE Access2169-35362025-01-0113250592507310.1109/ACCESS.2025.353826010870216Experimental Analysis of Fuzzy Gain-Scheduled PID Controller With a Feedforward Compensator for an Ultra-Precise Piezoactuated Micropositioning StageHussain Kahil0https://orcid.org/0009-0005-1445-4462Irfan Ahmad1https://orcid.org/0000-0002-6206-9439Yasser Bin Salamah2https://orcid.org/0000-0001-5767-4741Department of Electrical Engineering, College of Engineering, King Saud University, Riyadh, Saudi ArabiaDepartment of Electrical Engineering, College of Engineering, King Saud University, Riyadh, Saudi ArabiaDepartment of Electrical Engineering, College of Engineering, King Saud University, Riyadh, Saudi ArabiaThe piezoactuated micropositioning stage discussed in this study employs an all-ceramic insulation and a flexure-guide mechanism. It demonstrates remarkable capabilities, including achieving subnanometer resolution, high positioning accuracy, rapid response, and a high load capacity. The successful operation of this stage relies on the crucial role played by piezoelectric actuators. However, the inherent nonlinear hysteresis characteristics of these actuators, if not compensated for, can significantly compromise the precision of the positioning. This paper presents an experimental analysis of the piezoactuated micropositioning stage studied. Initially, a conventional proportional-integral-derivative (PID) feedback controller is utilized. Subsequently, intelligent fuzzy and fuzzy gain-scheduled PID feedback controllers are implemented, along with a hysteresis feedforward compensator. The main objective is to achieve ultra-precise positioning while avoiding the complexities associated with inverse hysteresis modeling. The experimental results from the piezoactuated micropositioning stage demonstrate the effectiveness of the intelligent fuzzy gain-scheduled PID controller with a feedforward compensator in achieving precise positioning. The peak-to-peak tracking error is 0.5% of the <inline-formula> <tex-math notation="LaTeX">$12\mu $ </tex-math></inline-formula>m, 10Hz reference trajectory, marking a 54% and 88% performance improvement over the intelligent fuzzy controller, and classical PID controller, respectively.https://ieeexplore.ieee.org/document/10870216/Feedforward compensatorfuzzy gain-scheduled PID feedback controllerhysteresismicropositioning stagepiezoelectric actuator |
| spellingShingle | Hussain Kahil Irfan Ahmad Yasser Bin Salamah Experimental Analysis of Fuzzy Gain-Scheduled PID Controller With a Feedforward Compensator for an Ultra-Precise Piezoactuated Micropositioning Stage IEEE Access Feedforward compensator fuzzy gain-scheduled PID feedback controller hysteresis micropositioning stage piezoelectric actuator |
| title | Experimental Analysis of Fuzzy Gain-Scheduled PID Controller With a Feedforward Compensator for an Ultra-Precise Piezoactuated Micropositioning Stage |
| title_full | Experimental Analysis of Fuzzy Gain-Scheduled PID Controller With a Feedforward Compensator for an Ultra-Precise Piezoactuated Micropositioning Stage |
| title_fullStr | Experimental Analysis of Fuzzy Gain-Scheduled PID Controller With a Feedforward Compensator for an Ultra-Precise Piezoactuated Micropositioning Stage |
| title_full_unstemmed | Experimental Analysis of Fuzzy Gain-Scheduled PID Controller With a Feedforward Compensator for an Ultra-Precise Piezoactuated Micropositioning Stage |
| title_short | Experimental Analysis of Fuzzy Gain-Scheduled PID Controller With a Feedforward Compensator for an Ultra-Precise Piezoactuated Micropositioning Stage |
| title_sort | experimental analysis of fuzzy gain scheduled pid controller with a feedforward compensator for an ultra precise piezoactuated micropositioning stage |
| topic | Feedforward compensator fuzzy gain-scheduled PID feedback controller hysteresis micropositioning stage piezoelectric actuator |
| url | https://ieeexplore.ieee.org/document/10870216/ |
| work_keys_str_mv | AT hussainkahil experimentalanalysisoffuzzygainscheduledpidcontrollerwithafeedforwardcompensatorforanultraprecisepiezoactuatedmicropositioningstage AT irfanahmad experimentalanalysisoffuzzygainscheduledpidcontrollerwithafeedforwardcompensatorforanultraprecisepiezoactuatedmicropositioningstage AT yasserbinsalamah experimentalanalysisoffuzzygainscheduledpidcontrollerwithafeedforwardcompensatorforanultraprecisepiezoactuatedmicropositioningstage |