A real-time inverse-based hysteresis compensation with adaptation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26620%2F15%3APU116801" target="_blank" >RIV/00216305:26620/15:PU116801 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7403377&searchWithin=%22Authors%22:.QT.Jakub%20Dokoupil.QT.&newsearch=true" target="_blank" >http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7403377&searchWithin=%22Authors%22:.QT.Jakub%20Dokoupil.QT.&newsearch=true</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CDC.2015.7403377" target="_blank" >10.1109/CDC.2015.7403377</a>
Alternative languages
Result language
angličtina
Original language name
A real-time inverse-based hysteresis compensation with adaptation
Original language description
This paper presents a novel approach for compensation of hysteresis present for example in piezoelectric actuators. This adverse phenomenon limits seriously their accuracy, especially for large range positioning. The advantage of the proposed method is that it only requires the parametric description of the hysteresis model and does not require modeling its inverse directly. Instead, a combination of Newton and bisection algorithms is incorporated to solve for proper compensation input on-line. A simple polynomial model is chosen to approximate the hysteresis curve. The novelty of the proposed method is based on the adaptation of such a parametric model in real-time. In this way, one avoids modeling both ascending and descending branches of hysteresis separately and/or for different amplitude of the input. In order to track time varying parameters an adaptive estimator with stabilized exponential forgetting in a Bayesian framework is proposed. The optimal value of the forgetting factor is found by solving a maximin problem containing the Kullback-Leibler divergences. The method is validated experimentally on piezoelectric actuator in horizontal axis of some STM-like lab-made nanopositioning platform.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
<a href="/en/project/EE2.3.30.0039" target="_blank" >EE2.3.30.0039: Excellent young researcher at BUT</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
54th IEEE Conference on Decision and Control
ISBN
978-1-4799-7884-7
ISSN
0743-1546
e-ISSN
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Number of pages
6
Pages from-to
7335-7340
Publisher name
Institute of electrical and electronics engineers inc.
Place of publication
Neuveden
Event location
Osaka
Event date
Dec 15, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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