A real-time inverse-based hysteresis compensation with adaptation

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

A real-time inverse-based hysteresis compensation with adaptation

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

A real-time inverse-based hysteresis compensation with adaptation

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

—

Projekt

<a href="/cs/project/EE2.3.30.0039" target="_blank" >EE2.3.30.0039: Excelentní mladí vědci na VUT v Brně</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

54th IEEE Conference on Decision and Control

ISBN

978-1-4799-7884-7

ISSN

0743-1546

e-ISSN

—

Počet stran výsledku

6

Strana od-do

7335-7340

Název nakladatele

Institute of electrical and electronics engineers inc.

Místo vydání

Neuveden

Místo konání akce

Osaka

Datum konání akce

15. 12. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—