A survey on hysteresis modeling, identification and control

Hassani, Vahid; Tjahjowidodo, Tegoeh; Nho, Thanh

doi:10.1016/j.ymssp.2014.04.012

Cited by 436 publications

(220 citation statements)

References 106 publications

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“…For the purpose of comparison we start with the implementation of a PD control, which is one of the simplest approaches for the control of Robotic joint angular position. The advantages and disadvantages of using a PD type of method to control a system with hysteresis is discussed in survey article Hassani et al (2014). In order to present the four different control approaches, we first define the angular position error (e) as:…”

Section: Joint Space Control: Inner Control Lawmentioning

confidence: 99%

“…When talking about control of nonlinear systems, the Sliding Model Control (SMC) is one of the most applied strategies due to its robustness and fairly easy design. Here Hassani et al (2014) would serve as an important survey article. The SMC is a specific type of Variable Structure Control (VSC), which consists of a high-speed switching control law which aims to drive the plant's states onto a userdefined surface (sliding surface).…”

Section: Joint Space Control: Inner Control Lawmentioning

confidence: 99%

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Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study

Quintanar-Guzman

Kannan

Gonzalez

et al. 2017

Journal of Intelligent Material Systems and Structures

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This paper presents the design and control of a two-link lightweight robotic arm using Shape Memory Alloy wires as actuators. Both, a single wire actuated system and an antagonistic configuration system are tested in open and closed-loop. The mathematical model of the SMA wire, as well as the kinematics and dynamics of the robotic arm, are presented. The Operational Space Control of the robotic arm is performed by using a Joint Space control in the inner loop and Closed Loop Inverse Kinematics in the outer loop. In order to choose the best Joint Space Control approach, a comparative study of four different control approaches (Proportional Derivative, Sliding Mode, Adaptive and Adaptive Sliding Mode Control) is carried out for the proposed model. From this comparative analysis, the adaptive controller was chosen to perform Operational Space Control. This control helps us to perform accurate positioning of the endeffector of SMA wire based robotic arm. The complete Operational Space control was successfully tested through simulation studies performing position reference tracking in the end-effector space. Through simulation studies the proposed control solution is successfully verified to control the hysteretic robotic arm.

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Section: Joint Space Control: Inner Control Lawmentioning

confidence: 99%

Section: Joint Space Control: Inner Control Lawmentioning

confidence: 99%

Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study

Quintanar-Guzman

Kannan

Gonzalez

et al. 2017

Journal of Intelligent Material Systems and Structures

View full text Add to dashboard Cite

show abstract

“…The hysteresis models of the PAM can be roughly divided into two classes [6]: operatorbased models and differential-based models. Members belonging to the first class use different kinds of mathematical operators to characterize the hysteresis phenomenon, including the Preisach model, PrandtlIshlinskii (PI) model and Maxwell-Slip model.…”

Section: Fig 1 the Pneumatic Artificial Musclementioning

confidence: 99%

Hysteresis Modelling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model

Mei

Xie

Liu

et al. 2017

SV-JME

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“…Appearance of mathematical models of hysteretic phenomena is connected with the wide set of applied problems, generally in the theory of automatic control (see, e.g., [1,2,3] and related references). In these systems the sources with hysteretic properties can not be considered separately, but should be considered as a part of some complex system [1,4].…”

Section: Introductionmentioning

confidence: 99%

“…In these systems the sources with hysteretic properties can not be considered separately, but should be considered as a part of some complex system [1,4]. In this way the hysteretic nonlinearity should be taken into account on the step of modeling and should be included to the system of differential equations that describe the system under consideration.…”

Section: Introductionmentioning

confidence: 99%