Precise robust motion control of cell puncture mechanism driven by piezoelectric actuators with fractional-order nonsingular terminal slidingmode control

作     者：Shengdong Yu Hongtao Wu Mingyang Xie Haiping Lin Jinyu Ma Shengdong Yu;Hongtao Wu;Mingyang Xie;Haiping Lin;Jinyu Ma

作者机构：Wenzhou PolytechnicWenzhou 325000China Nanjing University of Aeronautics and AstronauticsNanjing 210016China Hangzhou Vocational and Technical CollegeHangzhou 310000China 

出 版 物：《Bio-Design and Manufacturing》 (生物设计与制造（英文）)

年 卷 期：2020年第3卷第4期

页      面：410-426页

核心收录：

学科分类：0710[理学-生物学] 07[理学] 08[工学] 071009[理学-细胞生物学] 09[农学] 0835[工学-软件工程] 0901[农学-作物学] 0802[工学-机械工程] 090102[农学-作物遗传育种] 080201[工学-机械制造及其自动化] 

基　　金：Foreign Experts Affairs Foundation, (G20190010180) Zhejiang Public Welfare Technology Application Research Support Project, (LGG20E050012) National Natural Science Foundation of China, NSFC, (51975277) National Natural Science Foundation of China, NSFC 

主　　题：Cell puncture mechanism(CPM) Piezoelectric actuator(PEA) Robust motion control Fractional-order nonsingular terminal sliding mode(FONTSM) Time-delay estimation(TDE) 

摘      要：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 Bouc–Wen 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 *** controller also has finite-time convergence and high-precision trajectory tracking capabilities due to FONTSM manifold and fast terminal sliding mode-type reaching *** stability of the closed-loop system is proved by Lyapunov stability *** 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 *** proposed controller can also continuously output without chattering and has high control *** embryo is used as a verification target to complete the cell puncture *** the engineering application perspective,the proposed control strategy can be effectively applied in a PEA-driven CPM.