Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system

• Main Authors: Ahmad Khalili, Amelia, Mohamed, Zaharuddin, Mohd. Basri, Mohd. Ariffanan
• Format: Article
• Published: Springer Verlag 2019
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/87629/; http://dx.doi.org/10.1007/s00542-019-04294-6

In this paper a robust backstepping sliding mode controller is developed for tracking control of 2-DOF piezo-actuated micromanipulation system. The control approach is established to obtain high precision tracking in the existence of hysteresis nonlinearity, model uncertainties and external disturba...