Resonant gain scheduling controller for spiral scanning patterns in atomic force microscopy

• Ano de defesa: 2018
• Autor(a) principal: Oliveira, Matheus Senna de
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: eng
• Instituição de defesa: Pontifícia Universidade Católica do Rio Grande do Sul; Escola Politécnica; Brasil; PUCRS; Programa de Pós-Graduação em Engenharia Elétrica
• Palavras-chave em Português: Atomic Force Microscopy; Internal Model Principle; Time-Varying Reference Tracking; Robust Control; Iterative Learning Control; ENGENHARIAS
• Link de acesso: http://tede2.pucrs.br/tede2/handle/tede/7931

This document presents a dissertation work regarding the study of control strategies for the efficient tracking of spiral patterns. Such patterns arise in many areas, as for example the Atomic Force Microscopy, where fast and smooth reference signals are required. In order to successfully track the above mentioned references, which are composed of amplitude and frequency-varying sinusoidal signals, advanced control strategies were investigated. The Internal Model Principle is a traditional approach to track reference signals, but it cannot be directly applied in frequency-varying signals. Therefore, the present work proposed a robust control strategy where the Internal Model Principle was applied as a Resonant Control in an augmented time-varying structure. The augmented system and the reference frequency values were organized using a polytopic representation and structured as an optimization problem subject to constraints in the form of Linear Matrix Inequalities. This synthesis was evaluated through a set of simulations, using a numerical model of an Atomic Force Microscope and a new suitable scanning reference pattern. Moreover, using the premise that the same reference signals are tracked multiple times, an Iterative Learning Controller was also designed in order to improve the tracking performance of the proposed main strategy. Numerical results demonstrated that the designed controller achieved satisfactory results, in comparison to the traditional controller available in the area.