The enhanced model-free control of nano-positioning stage

Xiao Zhang, Wei Zhang

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review


An efficient control of nano-positioning stage remains a challenging task due to the effect of noise and disturbances and nonlinear friction phenomenon which is difficult for both modeling and control. In order to solve this problem, a novel model-free control method is applied to nano-positioning stage to provide the robustness and ability of disturbance rejection. Besides, a feedforward model which can predict the required force for pre-sliding regime is added to cancel the nonlinear pre-sliding friction and reduce the control effort. The simulation and experiment results shows, with this simple control structure, the excellent tracking accuracy and insensitivity to disturbance are achieved.

Original languageEnglish
Title of host publicationAddressing Global Challenges through Automation and Computing
Subtitle of host publicationProceedings 2017 23rd IEEE International Conference on Automation and Computing (ICAC '17)
EditorsJ. Zhang
Place of PublicationPiscataway, NJ, USA
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)9780701702618
Publication statusPublished - 2017
Externally publishedYes
Event2017 23rd IEEE International Conference on Automation and Computing (ICAC): Addressing Global Changes through Automation and Computing - Huddersfield, United Kingdom
Duration: 7 Sep 20178 Sep 2017


Conference2017 23rd IEEE International Conference on Automation and Computing (ICAC)
Abbreviated titleICAC 2017
CountryUnited Kingdom


  • Disturbance rejection
  • Feedforward control
  • Model-free Control
  • Nonlinear control
  • Positioning stage

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