Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications

Ang, Wei Tech; Khosla, Pradeep K.; Riviere, Cameron N.

doi:10.1109/tmech.2007.892824

Cited by 297 publications

(163 citation statements)

References 25 publications

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“…The inverse model has ten backlash operators and six dead-zone operators [28], and the parameter identification is implemented by 'lscurvefit' function in MATLAB environment.…”

Section: G Y a Y T A Y T A Y T Amentioning

confidence: 99%

Design and control methodology of a 3-DOF flexure-based mechanism for micro/nano-positioning

Guo

Tian

Liu

et al. 2015

Robotics and Computer-Integrated Manufacturing

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2015)Design and control methodology of a 3-DOF flexure-based mechanism for micro/nanopositioning. Copies of full items can be used for personal research or study, educational, or not-forprofit purposes without prior permission or charge. Provided that the authors, title and full bibliographic details are credited, a hyperlink and/or URL is given for the original metadata page and the content is not changed in any way.

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“…The inverse model has ten backlash operators and six dead-zone operators [28], and the parameter identification is implemented by 'lscurvefit' function in MATLAB environment.…”

Section: G Y a Y T A Y T A Y T Amentioning

confidence: 99%

Design and control methodology of a 3-DOF flexure-based mechanism for micro/nano-positioning

Guo

Tian

Liu

et al. 2015

Robotics and Computer-Integrated Manufacturing

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“…Supplementary details of the Prandtl-Ishlinskii hysteresis operators can be found in Kuhnen et al [12][13][14] and Ang et al [15].…”

Section: Hysteresis Mathematical Modelmentioning

confidence: 99%

Adaptive rate-dependent feedforward controller for hysteretic piezoelectric actuator

Tan

Widjaja

Latt

et al. 2008

2008 IEEE International Conference on Robotics and Automation

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Abstract-With the increasing popularity of actuators involving smart materials like piezoelectric, control of such materials becomes important. The existence of the inherent hysteretic behavior hinders the tracking accuracy of the actuators. To make matters worse, the hysteretic behavior changes with rate. One of the suggested ways is to have a feedforward controller to linearize the relationship between the input and output. Thus, the hysteretic behavior of the actuator must be first modeled by sensing the relationship between the input voltage and output displacement. Unfortunately, the hysteretic behavior is dependent on individual actuator and also environmental conditions like temperature. In this fast moving world, time is money and it is very costly to model the hysteresis regularly. In addition, the hysteretic behavior of the actuators also changes with age. Base on the studies done on the phenomena hysteretic behavior with rate, this paper proposes an adaptive rate-dependent feedforward controller with Prandtl-Ishlinskii (PI) hysteresis operators for piezoelectric actuators. This adaptive controller is achieved by adapting the coefficients to manipulate the weights of the play operators. Actual experiments are conducted to demonstrate the effectiveness of the adaptive controller.

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“…Among various hysteresis models such as Preisach model [18,19], Bouc-Wen model [20,21], Prandtl-Ishlinskii (P-I) model [22,23], the P-I hysteresis model attracts more attention for the structural simplicity, easy model identification and analytical inverse. As a result, the P-I model is selected to model the hysteresis and further form a feedforward-feedback controller to control the motion of the platform.…”

Section: Introductionmentioning

confidence: 99%

An inverse Prandtl–Ishlinskii model based decoupling control methodology for a 3-DOF flexure-based mechanism

Guo

Tian

Liu

et al. 2015

Sensors and Actuators A: Physical

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Copies of full items can be used for personal research or study, educational, or not-forprofit purposes without prior permission or charge. Provided that the authors, title and full bibliographic details are credited, a hyperlink and/or URL is given for the original metadata page and the content is not changed in any way. Abstract ： A modified Prandtl-Ishlinskii (P-I) hysteresis model is developed to form the feedforward controller for a 3-DOF flexure-based mechanism. To improve the control accuracy of the P-I hysteresis model, a hybrid structure that includes backlash operators, dead-zone operators and a cubic polynomial function is proposed. Both the rate-dependent hysteresis modeling and adaptive dead-zone thresholds selection method are investigated. System identification was used to obtain the parameters of the newly-developed hysteresis model. Closed-loop control was added to reduce the influence from external disturbances such as vibration and noise, leading to a combined feedforward/feedback control strategy. The cross-axis coupling motion of the 3-DOF flexure-based mechanism has been explored using the established controller. Accordingly, a decoupling feedforward/feedback controller is proposed and implemented to compensate the coupled motion of the moving platform. Experimental tests are reported to examine the tracking capability of the whole system and features of the controller. It is demonstrated that the proposed decoupling control methodology can distinctly reduce the coupling motion of the moving platform and thus improve the positioning accuracy and trajectory tracking capability.

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Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications

Cited by 297 publications

References 25 publications

Design and control methodology of a 3-DOF flexure-based mechanism for micro/nano-positioning

Design and control methodology of a 3-DOF flexure-based mechanism for micro/nano-positioning

Adaptive rate-dependent feedforward controller for hysteretic piezoelectric actuator

An inverse Prandtl–Ishlinskii model based decoupling control methodology for a 3-DOF flexure-based mechanism

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