Adaptive Implicit Inverse Control for a Class of Butterfly-Like Hysteretic Nonlinear Systems and Its Application to Dielectric Elastomer Actuators

Yue Wang, Xiuyu Zhang, Zhi Li, Xinkai Chen, Chun Yi Su

研究成果: Article査読

抄録

In this paper, a butterfly-like Prandtl-Ishlinskii (PI) hysteresis model and a novel neural network based adaptive implicit inverse control scheme to describe and control the butterfly-like hysteresis are proposed. The main contributions are: 1) a butterfly-like PI model is developed for the purpose of predicting the hysteresis effects and the model is feasible for controller design; 2) an implicit inverse control scheme especially for mitigating the butterfly-like hysteresis is implemented, which avoids the construction of the direct inverse of the butterfly-like PI model; 3) an adaptive implicit inverse control approach which integrates the neural network and the implicit inverse technique into the output-feedback control is developed for eliminating the butterfly-like hysteresis and an arbitrarily small L norm of tracking error is achieved. The proposed modeling and control methods are validated experimentally via the dielectric elastomer actuator (DEA) based motion control platform.

本文言語English
ジャーナルIEEE Transactions on Industrial Electronics
DOI
出版ステータスAccepted/In press - 2022

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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