Tracking of High-speed, Non-smooth and Microscale-amplitude Wave Trajectories

Abstract

In this article, an inversion-based control approach is proposed and presented for tracking desired trajectories with high-speed (100Hz), non-smooth (triangle and sawtooth waves), and microscale-amplitude (10 micron) wave forms. The interesting challenge is that the tracking involves the trajectories that possess a high frequency, a microscale amplitude, sharp turnarounds at the corners. Two different types of wave trajectories, which are triangle and sawtooth waves, are investigated. The model, or the transfer function of a piezoactuator is obtained experimentally from the frequency response by using a dynamic signal analyzer. Under the inversion-based control scheme and the model obtained, the tracking is simulated in MATLAB. The main contributions of this work are to show that (1) the model and the controller achieve a good tracking performance measured by the root mean square error (RMSE) and the maximum error (Emax), (2) the maximum error occurs at the sharp corner of the trajectories, (3) tracking the sawtooth wave yields larger RMSE and Emax values,compared to tracking the triangle wave, and (4) in terms of robustness to modeling error or unmodeled dynamics, Emax is still less than 10% of the peak to peak amplitude of 20 micron if the increases in the natural frequency and the damping ratio are less than 5% for the triangle trajectory and Emax is still less than 10% of the peak to peak amplitude of 20 micron if the increases in the natural frequency and the damping ratio are less than 3.2 % for the sawtooth trajectory.