Internal model-based feedback control design for inversion-free feedforward rate-dependent hysteresis compensation of piezoelectric cantilever actuator

Janaideh, Mohammad Al; Rakotondrabe, Micky; Al-Darabsah, Isam; Aljanaideh, Omar

doi:10.1016/j.conengprac.2017.11.001

Cited by 61 publications

(21 citation statements)

References 32 publications

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“…Moreover, since w k is restricted to the interval [β 2 , α 2 ] for every k ∈ Z + , then only the relays with (α, β ) ∈ Q can be affected by the input u γ defined in (3). Therefore, to find the sector bounds of ∆ k γ as a function of ∆ k w, it is enough to modify (8)- (11) to take the maximum and minimum over Q.…”

Section: K+1mentioning

confidence: 99%

Recursive Algorithm for the Control of Output Remnant of Preisach Hysteresis Operator

Vasquez-Beltran

Jayawardhana

Peletier

2021

IEEE Control Syst. Lett.

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We study in this paper the control of hysteresisbased actuator systems where its remanence behavior (e.g., the remaining memory when the actuation signal is set to zero) must follow a desired reference point. We present a recursive algorithm for the output regulation of the hysteresis remnant behavior described by Preisach operators. Under some mild conditions, we prove that our proposed algorithm guarantees that the output remnant converges to a desired value. Simulation result shows the efficacy of our proposed algorithm.

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Section: K+1mentioning

confidence: 99%

Recursive Algorithm for the Control of Output Remnant of Preisach Hysteresis Operator

Vasquez-Beltran

Jayawardhana

Peletier

2021

IEEE Control Syst. Lett.

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“…Various modelling methods and control strategies have been proposed to tackle the hysteresis and its effect. The Prandtl-Ishlinskii model [14][15][16][17] was widely investigated for describing the rate-independent and rate-dependent, symmetric and asymmetric hysteresis. Preisach model [18,19], Duhem model [20], fuzzy system [21,22] and neural networks [23] were also presented to characterizing hysteresis.…”

Section: Introductionmentioning

confidence: 99%

Hysteresis Modelling and Feedforward Control of Piezoelectric Actuator Based on Simplified Interval Type-2 Fuzzy System

Zhang

et al. 2020

Sensors

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The piezoelectric actuator is indispensable for driving the micro-manipulator. In this paper, a simplified interval type-2 (IT2) fuzzy system is proposed for hysteresis modelling and feedforward control of a piezoelectric actuator. The partial derivative of the output of IT2 fuzzy system with respect to the modelling parameters can be analytically computed with the antecedent part of IT2 fuzzy rule specifically designed. In the experiments, gradient based optimization was used to identify the IT2 fuzzy hysteresis model. Results showed that the maximum error of model identification is 0.42% with only 3 developed IT2 fuzzy rules. Moreover, the model validation was conducted to demonstrate the generalization performance of the identified model. Based on the analytic inverse of the developed model, feedforward control experiment for tracking sinusoidal trajectory of 20 Hz was carried out. As a result, the hysteresis effect of the piezoelectric actuator was reduced with the maximum tracking error being 4.6%. Experimental results indicated an improved performance of the proposed IT2 fuzzy system for hysteresis modelling and feedforward control of the piezoelectric actuator.

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“…This first control strategy has to deal with computational complexity while performing inversion of the actual hysteresis model. To avoid this computational complexity, a few approaches are presented in the literature which avoid calculating the inverse hysteresis model for the feedforward compensator [20], [21]. Real-time implementation of these feedforward compensators may not achieve the desired performance in the presence of modeling error and unknown disturbances.…”

Section: Introductionmentioning

confidence: 99%

Robust μ-Synthesis With Dahl Model Based Feedforward Compensator Design for Piezo-Actuated Micropositioning Stage

Ahmad

Ali

2020

IEEE Access

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In this paper, a combined feedback-feedforward control design scheme is presented to enhance the tracking performance of a piezo-actuated micropositioning stage by compensating the nonlinear hysteretic behavior of the piezoelectric actuator and model uncertainties of the system. Detailed investigation of the presented control scheme is performed not only in simulation by analyzing the robust stability and robust performance but also in real-time with motion trajectories of multiple frequencies. To design the presented control scheme, first of all, the dynamic model of the system is identified from the real-time experimental data by using the recursive least squares parameter adaptation algorithm. Then, Dahl hysteresis model is considered to represent the nonlinear hysteretic behavior of the piezoelectric actuator. To deal with this hysteresis nonlinearity, Dahl feedforward compensator is designed without involving inverse model calculations to avoid any computational complexity. This feedforward compensator is then combined with µ-synthesis robust feedback controller which is designed in the presence of model uncertainties of the system. The presented control scheme ensures the boundedness of the closed-loop signals and the desired tracking performance of the considered micropositioning stage. Finally, experimental tests are conducted with motion trajectories of multiple frequencies for the validation of the control scheme. An average improvement of 95% in compensating the hysteresis nonlinearity and 80% in reducing the tracking error is achieved which demonstrates the efficacy of the presented control scheme. INDEX TERMS Dahl feedforward compensator, hysteresis nonlinearity, micropositioning, model uncertainties, piezoelectric actuator, µ-synthesis robust feedback controller.

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Internal model-based feedback control design for inversion-free feedforward rate-dependent hysteresis compensation of piezoelectric cantilever actuator

Cited by 61 publications

References 32 publications

Recursive Algorithm for the Control of Output Remnant of Preisach Hysteresis Operator

Recursive Algorithm for the Control of Output Remnant of Preisach Hysteresis Operator

Hysteresis Modelling and Feedforward Control of Piezoelectric Actuator Based on Simplified Interval Type-2 Fuzzy System

Robust μ-Synthesis With Dahl Model Based Feedforward Compensator Design for Piezo-Actuated Micropositioning Stage

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