Damping Controller Design for Nanopositioners: A Mixed Passivity, Negative-Imaginary, and Small-Gain Approach

Sajal K Das; Hemanshu R Pota; Ian Petersen

doi:10.1109/TMECH.2014.2331321

Damping Controller Design for Nanopositioners: A Mixed Passivity, Negative-Imaginary, and Small-Gain Approach

Sajal K Das, Hemanshu R Pota, Ian Petersen

Research output: Contribution to journal › Article › peer-review

Abstract

A design of a damping controller to damp the first resonant mode of a piezoelectric tube scanner (PTS) used in most commercial atomic force microscopes (AFMs) is proposed in this study. The design of the controller is carried out by proposing a novel analytical framework. The analytical framework examines the finite-gain stability for a positive feedback interconnection between two stable linear time-invariant systems, where one system has mixed passivity, negative-imaginary, and small-gain properties and the other system has mixed negative-imaginary, negative-passivity, and small-gain properties. Experimental results are presented to show the effectiveness of the proposed analytical framework to design the proposed controller.

Original language	English
Pages (from-to)	416-426pp
Journal	IEEE/ASME Transactions on Mechatronics
Volume	20
Issue number	1
DOIs	https://doi.org/10.1109/TMECH.2014.2331321
Publication status	Published - 2015

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title = "Damping Controller Design for Nanopositioners: A Mixed Passivity, Negative-Imaginary, and Small-Gain Approach",

abstract = "A design of a damping controller to damp the first resonant mode of a piezoelectric tube scanner (PTS) used in most commercial atomic force microscopes (AFMs) is proposed in this study. The design of the controller is carried out by proposing a novel analytical framework. The analytical framework examines the finite-gain stability for a positive feedback interconnection between two stable linear time-invariant systems, where one system has mixed passivity, negative-imaginary, and small-gain properties and the other system has mixed negative-imaginary, negative-passivity, and small-gain properties. Experimental results are presented to show the effectiveness of the proposed analytical framework to design the proposed controller.",

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AB - A design of a damping controller to damp the first resonant mode of a piezoelectric tube scanner (PTS) used in most commercial atomic force microscopes (AFMs) is proposed in this study. The design of the controller is carried out by proposing a novel analytical framework. The analytical framework examines the finite-gain stability for a positive feedback interconnection between two stable linear time-invariant systems, where one system has mixed passivity, negative-imaginary, and small-gain properties and the other system has mixed negative-imaginary, negative-passivity, and small-gain properties. Experimental results are presented to show the effectiveness of the proposed analytical framework to design the proposed controller.

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DO - 10.1109/TMECH.2014.2331321

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JO - IEEE/ASME Transactions on Mechatronics

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ER -

Damping Controller Design for Nanopositioners: A Mixed Passivity, Negative-Imaginary, and Small-Gain Approach

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