抄録
Most smart material based actuators (smart actuators) are known for their prominent characteristics of a high resolution of positioning, high bandwidth, and the ease of integration in miniaturized systems. However, their applications are restricted by the inherent hysteresis nonlinearity. This paper presents a new nonlinear discrete control design to improve hysteresis compensation in the smart actuators particularly in the piezoelectric based actuators. The control development takes the prescribed performance control framework as the basis and fuses it into a new modified Bouc-Wen (MBW) model. Through the theoretical analysis, it is shown that the designed control law guarantees the stability of the closed-loop system. Finally, the efficacy of the control framework is verified via a real case application where a linear piezoelectric actuated positioning system (PEA stage) is used as the testbed. The experimental results confirm that the formulated control scheme has the capacity for improving the output-tracking performance in the PEA stage.
本文言語 | English |
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ホスト出版物のタイトル | IRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors |
ホスト出版物のサブタイトル | Empowering Robots with Smart Sensors |
出版社 | Institute of Electrical and Electronics Engineers Inc. |
ページ | 184-189 |
ページ数 | 6 |
ISBN(電子版) | 9781509060849 |
DOI | |
出版ステータス | Published - 2017 10 11 |
イベント | 4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016 - Tokyo, Japan 継続期間: 2016 12 17 → 2016 12 20 |
Other
Other | 4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016 |
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Country | Japan |
City | Tokyo |
Period | 16/12/17 → 16/12/20 |
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Control and Optimization
- Instrumentation
- Social Sciences (miscellaneous)