LSTM-Inversion-Based Feedforward–Feedback Nanopositioning Control
This work proposes a two-degree of freedom (2DOF) controller for motion tracking of nanopositioning devices, such as piezoelectric actuators (PEAs), with a broad bandwidth and high precision. The proposed 2DOF controller consists of an inversion feedforward controller and a real-time feedback contro...
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MDPI AG
2024-10-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/12/11/747 |
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| author | Ruocheng Yin Juan Ren |
| author_facet | Ruocheng Yin Juan Ren |
| author_sort | Ruocheng Yin |
| collection | DOAJ |
| description | This work proposes a two-degree of freedom (2DOF) controller for motion tracking of nanopositioning devices, such as piezoelectric actuators (PEAs), with a broad bandwidth and high precision. The proposed 2DOF controller consists of an inversion feedforward controller and a real-time feedback controller. The feedforward controller, a sequence-to-sequence LSTM-based inversion model (invLSTMs2s), is used to compensate for the nonlinearity of the PEA, especially at high frequencies, and is collaboratively integrated with a linear MPC feedback controller, which ensures the PEA position tracking performance at low frequencies. Therefore, the proposed 2DOF controller, namely, invLSTMs2s+MPC, is able to achieve high precision over a broad bandwidth. To validate the proposed controller, the uncertainty of invLSTMs2s is checked such that the integration of an inversion model-based feedforward controller has a positive impact on the trajectory tracking performance compared to feedback control only. Experimental validation on a commercial PEA and comparison with existing approaches demonstrate that high tracking accuracies can be achieved by invLSTMs2s+MPC for various reference trajectories. Moreover, invLSTMs2s+MPC is further demonstrated on a multi-dimensional PEA platform for simultaneous multi-direction positioning control. |
| format | Article |
| id | doaj-art-4f6bf645d78d47a1bd5930d853ea9b6a |
| institution | DOAJ |
| issn | 2075-1702 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-4f6bf645d78d47a1bd5930d853ea9b6a2025-08-20T02:47:59ZengMDPI AGMachines2075-17022024-10-01121174710.3390/machines12110747LSTM-Inversion-Based Feedforward–Feedback Nanopositioning ControlRuocheng Yin0Juan Ren1Department of Mechanical Engineering, Iowa State University, Ames, IA 50014, USADepartment of Mechanical Engineering, Iowa State University, Ames, IA 50014, USAThis work proposes a two-degree of freedom (2DOF) controller for motion tracking of nanopositioning devices, such as piezoelectric actuators (PEAs), with a broad bandwidth and high precision. The proposed 2DOF controller consists of an inversion feedforward controller and a real-time feedback controller. The feedforward controller, a sequence-to-sequence LSTM-based inversion model (invLSTMs2s), is used to compensate for the nonlinearity of the PEA, especially at high frequencies, and is collaboratively integrated with a linear MPC feedback controller, which ensures the PEA position tracking performance at low frequencies. Therefore, the proposed 2DOF controller, namely, invLSTMs2s+MPC, is able to achieve high precision over a broad bandwidth. To validate the proposed controller, the uncertainty of invLSTMs2s is checked such that the integration of an inversion model-based feedforward controller has a positive impact on the trajectory tracking performance compared to feedback control only. Experimental validation on a commercial PEA and comparison with existing approaches demonstrate that high tracking accuracies can be achieved by invLSTMs2s+MPC for various reference trajectories. Moreover, invLSTMs2s+MPC is further demonstrated on a multi-dimensional PEA platform for simultaneous multi-direction positioning control.https://www.mdpi.com/2075-1702/12/11/747LSTMsequence-to-sequencePEAsystem identificationinversion controlfeedforward–feedback control |
| spellingShingle | Ruocheng Yin Juan Ren LSTM-Inversion-Based Feedforward–Feedback Nanopositioning Control Machines LSTM sequence-to-sequence PEA system identification inversion control feedforward–feedback control |
| title | LSTM-Inversion-Based Feedforward–Feedback Nanopositioning Control |
| title_full | LSTM-Inversion-Based Feedforward–Feedback Nanopositioning Control |
| title_fullStr | LSTM-Inversion-Based Feedforward–Feedback Nanopositioning Control |
| title_full_unstemmed | LSTM-Inversion-Based Feedforward–Feedback Nanopositioning Control |
| title_short | LSTM-Inversion-Based Feedforward–Feedback Nanopositioning Control |
| title_sort | lstm inversion based feedforward feedback nanopositioning control |
| topic | LSTM sequence-to-sequence PEA system identification inversion control feedforward–feedback control |
| url | https://www.mdpi.com/2075-1702/12/11/747 |
| work_keys_str_mv | AT ruochengyin lstminversionbasedfeedforwardfeedbacknanopositioningcontrol AT juanren lstminversionbasedfeedforwardfeedbacknanopositioningcontrol |