Control and Testing of a Serial-Parallel XYZ Precision Positioner with a Discrete-Time Sliding Model Controller

  • Yanling Tian
  • Yue Ma
  • Fujun WangEmail author
  • Kangkang Lu
  • Xiaolu Zhao
  • Mingxuan Yang
  • Dawei Zhang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11741)


This paper reports the control and testing of a serial-parallel piezo-actuated XYZ precision positioner. The XYZ positioner mainly consists of a Z stage connected with the parallel XY stage in series. The XYZ positioner was fabricated through wire electrical discharge machining, and system identification was performed to obtain the dynamic model of the system. In order to further improve the performance of positioner, a discrete-time sliding model (DSM) controller with PID sliding surface is proposed to achieve precision position control. The proposed controller has the advantage of fast response, strong robustness. A number of experiments have been carried out to verify the performance of positioner and effectiveness of proposed DSM controller. The results indicate that the positioner can implement a workspace of 85.4 × 87.5 × 11.9 μm3 with coupling errors less than 1.56% in the non-working direction, and good spatial trajectory tracking performance and high positional accuracy can be realized through the proposed control strategy.


Precision positioner Piezoelectric actuators Discrete-time sliding model control 



This research was supported by National Natural Science Foundation of China (Grant nos. 51675371, 51675376 and 51675367), National Key R&D Program of China (nos. 2017YFB1104700, 2017YFE0112100, and 2016YFE0112100), Science & Technology Commission of Tianjin Municipality (Grant no. 18PTZWHZ00160), China-EU H2020 MNR4SCell (no. 734174).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Yanling Tian
    • 1
    • 2
  • Yue Ma
    • 1
  • Fujun Wang
    • 1
    Email author
  • Kangkang Lu
    • 1
  • Xiaolu Zhao
    • 1
  • Mingxuan Yang
    • 1
  • Dawei Zhang
    • 1
  1. 1.Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical EngineeringTianjin UniversityTianjinChina
  2. 2.School of EngineeringUniversity of WarwickCoventryUK

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