0
Research Papers

A Hybrid Nonlinear Adaptive Tracking Controller for a Resonating Fiber Microscanner

[+] Author and Article Information
Quinn Y. J. Smithwick1

Human Interface Technology Laboratory, University of Washington, Seattle, WA 98195smithwic@hitl.washington.edu

Juris Vagners

Department of Aeronautics and Astronautics, University of Washington, Seattle, WA 98195

Richard S. Johnston

Human Interface Technology Laboratory, University of Washington, Seattle, WA 98195; Human Photonics Laboratory, University of Washington, Seattle, WA 98195

Eric J. Seibel

Human Interface Technology Laboratory, University of Washington, Seattle, WA 98195; Human Photonics Laboratory, University of Washington, Seattle, WA 98195; Department of Mechanical Engineering, University of Washington, Seattle, WA 98195

1

Corresponding author.

J. Dyn. Sys., Meas., Control 132(1), 011001 (Dec 01, 2009) (13 pages) doi:10.1115/1.4000034 History: Received February 06, 2008; Revised May 19, 2009; Published December 01, 2009; Online December 01, 2009

A robust hybrid tracking controller for a nonlinear resonating fiber microscanner is developed and implemented to remove scan distortions—toroid and swirl. Using offline batch feedback, a nonlinear search, and simulated regulation, an adaptive controller iteratively finds system parameters that cause an online open-loop feedback linearized plant-inversion controller to robustly and accurately track a spiral scan with a high-speed flyback region. This offline adaptive feedback/online open-loop hybrid approach removes the need for miniature sensors and high-speed real-time controllers in situ.

FIGURES IN THIS ARTICLE
<>
Copyright © 2010 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Resonant fiber scanner and spiral scan: (a) resonant fiber scanner and (b) spiral scan

Grahic Jump Location
Figure 2

Reference waveform and system response for a triangle-modulated sinewave: (a) reference waveform for a triangle-modulated sinewave, (b) reference z-y plot for a triangle-modulated sinewave, (c) system response (z-axis) to triangle-modulated sinewave input, and (d) system response (z-y plot) to triangle-modulated sinewave input (increasing ramp section)

Grahic Jump Location
Figure 3

Reference waveform and system response for ramped sinewave with flyback: (a) typical reference waveforms for a ramped sinewave with flyback (two periods), (b) reference z-y plot for a ramped sinewave with flyback (ramped section), (c) system response (z-axis) to ramped sinewave with flyback (two periods), and (d) system response (z-y plot) to ramped sinewave with flyback (ramped section)

Grahic Jump Location
Figure 4

Functional block diagram for hybrid controller (z-axis identical for y-axis)

Grahic Jump Location
Figure 5

Controlled triangle-modulated sinewave: (a) controlled system response to a triangle-modulated sinewave (light: reference, dark: response), (b) controlled system response to a triangle-modulated sinewave (z-y plot), (c) controlled system response (zoomed region) (light: reference, dark: response), and (d) controlled system response (modulated minima) (light: reference, dark: response)

Grahic Jump Location
Figure 6

Controlled ramped sinewave with flyback: (a) controlled system response to a ramped sinewave with flyback (light: reference, dark: response), (b) controlled system response (zoomed region) (light: reference, dark: response), (c) controlled system response (modulation minima) (light: reference, dark: response), and (d) controlled system response (flyback region) (light: reference, dark: response)

Grahic Jump Location
Figure 7

Controlled ramped sinewave with flyback (z-y plots): (a) controlled system response (z-y plot) to a ramped sinewave with flyback squares every 495 samples taken commensurate with carrier and modulation frequency and (b) controlled system response (z-y plot) to a ramped sinewave with flyback (flyback portion)

Grahic Jump Location
Figure 8

Controller input for a ramped sinewave with flyback

Grahic Jump Location
Figure 9

System tracking sensitivity to natural frequency estimate: (a) controlled system response to a ramped sinewave with flyback for an estimated natural frequency 99.9% nominal (light: nominal, dark: 99.9% estimate) and (b) controlled system response to a ramped sinewave with flyback for an estimated natural frequency 100.1% nominal (light: nominal, dark: 100.1% estimate)

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In