Parameter uncertainty is a key challenge in the real-time control of nanopositioners employed in scanning probe microscopy. Changes in the sample to be scanned introduces changes in system resonances, requiring instantaneous online tuning of controller parameters to ensure stable, optimal scanning performance. This paper presents a method based on the frequency-domain algebraic derivative approach for the accurate online identification of the nanopositioner's parameters. The parameter estimates are produced within a fraction of one period of the resonant mode frequency, allowing almost instantaneous tuning of controller parameters. Experimental results show that the proposed method can be utilized to automatically tune an integral resonant control scheme that combines both damping and tracking actions, and consequently deliver positioning performance far superior to that achieved solely due to the scheme's inherent robustness properties. It is further shown that the achieved performance compares favorably with an optimally designed control scheme of the same type.

中文翻译：

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用于系统参数估计和在线控制器调整的快速代数估计器__纳米定位应用


参数不确定性是扫描探针显微镜中使用的纳米定位器实时控制的一个关键挑战。待扫描样品的变化会引起系统共振的变化，需要即时在线调整控制器参数以确保稳定、最佳的扫描性能。本文提出了一种基于频域代数导数方法的纳米定位器参数的精确在线识别方法。参数估计是在谐振模式频率的一个周期的一小部分内产生的，允许几乎瞬时调整控制器参数。实验结果表明，所提出的方法可用于自动调整结合阻尼和跟踪动作的积分谐振控制方案，从而提供远远优于仅由于该方案固有的鲁棒性特性而实现的定位性能。进一步表明，所实现的性能与同类型的优化设计控制方案相比毫不逊色。