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On-line Access: 2020-07-26
Received: 2020-03-30
Revision Accepted: 2020-06-09
Crosschecked: 2020-08-29
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Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsingular terminal sliding mode control
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Shengdong Yu, Hongtao Wu, Mingyang Xie, Haiping Lin & Jinyu Ma. Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsingular terminal sliding mode control[J]. Journal of Zhejiang University Science D, 2020, 3(4): 410-426.
@article{title="Precise robust motion control of cell puncture mechanism driven by
piezoelectric actuators with fractional-order nonsingular terminal
sliding mode control",
author="Shengdong Yu, Hongtao Wu, Mingyang Xie, Haiping Lin & Jinyu Ma",
journal="Journal of Zhejiang University Science D",
volume="3",
number="4",
pages="410-426",
year="2020",
publisher="Zhejiang University Press & Springer",
doi="10.1007/s42242-020-00083-7"
}
%0 Journal Article
%T Precise robust motion control of cell puncture mechanism driven by
piezoelectric actuators with fractional-order nonsingular terminal
sliding mode control
%A Shengdong Yu
%A Hongtao Wu
%A Mingyang Xie
%A Haiping Lin & Jinyu Ma
%J Journal of Zhejiang University SCIENCE D
%V 3
%N 4
%P 410-426
%@ 1869-1951
%D 2020
%I Zhejiang University Press & Springer
%DOI 10.1007/s42242-020-00083-7
TY - JOUR
T1 - Precise robust motion control of cell puncture mechanism driven by
piezoelectric actuators with fractional-order nonsingular terminal
sliding mode control
A1 - Shengdong Yu
A1 - Hongtao Wu
A1 - Mingyang Xie
A1 - Haiping Lin & Jinyu Ma
J0 - Journal of Zhejiang University Science D
VL - 3
IS - 4
SP - 410
EP - 426
%@ 1869-1951
Y1 - 2020
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1007/s42242-020-00083-7
Abstract: A novel robust controller is proposed in this study to realize the precise motion control of a cell puncture mechanism (CPM)
driven by piezoelectric ceramics (PEAs). The entire dynamic model of CPM is constructed based on the BoucWen model,
and the nonlinear part of the dynamic model is optimized locally to facilitate the construction of a robust controller. A
model-based, nonlinear robust controller is constructed using time-delay estimation (TDE) and fractional-order nonsingular
terminal sliding mode (FONTSM). The proposed controller does not require prior knowledge of unknown disturbances due
to its real-time online estimation and compensation of unknown terms by using the TDE technology. The controller also has
finite-time convergence and high-precision trajectory tracking capabilities due to FONTSM manifold and fast terminal sliding
mode-type reaching law. The stability of the closed-loop system is proved by Lyapunov stability theory. Computer simulation
and hardware-in-loop simulation experiments of CPM verify that the proposed controller outperforms traditional terminal
sliding mode controllers, such as the integer-order or model-free controller. The proposed controller can also continuously
output without chattering and has high control accuracy. Zebrafish embryo is used as a verification target to complete the cell
puncture experiment. From the engineering application perspective, the proposed control strategy can be effectively applied
in a PEA-driven CPM.
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