This article proposes a two-stage rule-based precision positioning control method for the linear piezoelectrically actuated table (LPAT). During coarse-tuning stage, the LPAT is actuated by coarse voltages towards the target of 20 m at a higher velocity; and during fine-tuning stage, it is driven by fine voltage steadily and accurately to reach the target position. The rule-based method is employed to establish the control rules for the voltages and displacements of the two stages using statistical methods. The experimental results demonstrate that the proposed control method can reach steady state quickly, and the steady-state error can be reduced to less than or equal to 0.02 μm for small travel (±0.1μm) and large travel (±20 mm).

Original languageEnglish
Pages (from-to)521-536
Number of pages16
JournalInternational Journal of Systems Science
Issue number5
Publication statusPublished - May 2010


  • Expert systems
  • Intelligent control
  • Piezoelectrically actuated table
  • Rule-based method
  • Two-stage control


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