Prandtl-Ishlinskii model-based adaptive feedforward control for piezoelectric-stack-actuator-driven systems

Jin Wei Liang; Hung Yi Chen

doi:10.1145/2952744.2952757

Prandtl-Ishlinskii model-based adaptive feedforward control for piezoelectric-stack-actuator-driven systems

Jin Wei Liang, Hung Yi Chen

Ming Chi University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a Prandtl-Ishlinskii (PI) model-based adaptive feedforward controller is proposed to overcome hysteretic behaviors of a piezoelectric-stack-actuator (PSA)-driven system. The feedforward control design is centered on the PI inverse hysteresis model. In addition, in order to capture the rate-dependent characteristics of the PSA-driven system, a normalized least mean-squares (NLMS) algorithm is adopted to online identify optimal weight vectors of the PI hysteresis models. The identified PI hysteresis model is then utilized to compute the inverse PI model. The feedforward controller can be designed accordingly. Tracking experiments focusing on sinusoidal and random-like signals were performed on a high-stiffness flexible micro-positioning system driven by a PSA. The experimental results show that the tracking accuracy is significantly improved using solely open-loop feedforward control in comparison with traditional open-loop control without compensation.

Original language	English
Title of host publication	Proceedings - 2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016
Editors	Dan Zhang, Marius Balas, Tshilidzi Marwala, Tshilidzi Marwala, Jongwon Kim
Publisher	Association for Computing Machinery
ISBN (Electronic)	9781450342353
DOIs	https://doi.org/10.1145/2952744.2952757
State	Published - 13 07 2016
Externally published	Yes
Event	2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016 - Kitakyushu, Japan Duration: 13 07 2016 → 15 07 2016

Publication series

Name	ACM International Conference Proceeding Series
Volume	13-15-July-2016

Conference

Conference	2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016
Country/Territory	Japan
City	Kitakyushu
Period	13/07/16 → 15/07/16

Bibliographical note

Publisher Copyright:
© 2016 ACM.

Keywords

Adaptive feedforward control
Normalized least mean-squares (NLMS)
Prandtl-Ishlinskii hysteresis model

Access to Document

10.1145/2952744.2952757

Cite this

Liang, J. W., & Chen, H. Y. (2016). Prandtl-Ishlinskii model-based adaptive feedforward control for piezoelectric-stack-actuator-driven systems. In D. Zhang, M. Balas, T. Marwala, T. Marwala, & J. Kim (Eds.), Proceedings - 2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016 Article 2952757 (ACM International Conference Proceeding Series; Vol. 13-15-July-2016). Association for Computing Machinery. https://doi.org/10.1145/2952744.2952757

Liang, Jin Wei ; Chen, Hung Yi. / Prandtl-Ishlinskii model-based adaptive feedforward control for piezoelectric-stack-actuator-driven systems. Proceedings - 2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016. editor / Dan Zhang ; Marius Balas ; Tshilidzi Marwala ; Tshilidzi Marwala ; Jongwon Kim. Association for Computing Machinery, 2016. (ACM International Conference Proceeding Series).

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title = "Prandtl-Ishlinskii model-based adaptive feedforward control for piezoelectric-stack-actuator-driven systems",

abstract = "In this paper, a Prandtl-Ishlinskii (PI) model-based adaptive feedforward controller is proposed to overcome hysteretic behaviors of a piezoelectric-stack-actuator (PSA)-driven system. The feedforward control design is centered on the PI inverse hysteresis model. In addition, in order to capture the rate-dependent characteristics of the PSA-driven system, a normalized least mean-squares (NLMS) algorithm is adopted to online identify optimal weight vectors of the PI hysteresis models. The identified PI hysteresis model is then utilized to compute the inverse PI model. The feedforward controller can be designed accordingly. Tracking experiments focusing on sinusoidal and random-like signals were performed on a high-stiffness flexible micro-positioning system driven by a PSA. The experimental results show that the tracking accuracy is significantly improved using solely open-loop feedforward control in comparison with traditional open-loop control without compensation.",

keywords = "Adaptive feedforward control, Normalized least mean-squares (NLMS), Prandtl-Ishlinskii hysteresis model",

author = "Liang, \{Jin Wei\} and Chen, \{Hung Yi\}",

note = "Publisher Copyright: {\textcopyright} 2016 ACM.; 2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016 ; Conference date: 13-07-2016 Through 15-07-2016",

year = "2016",

month = jul,

day = "13",

doi = "10.1145/2952744.2952757",

language = "英语",

series = "ACM International Conference Proceeding Series",

publisher = "Association for Computing Machinery",

editor = "Dan Zhang and Marius Balas and Tshilidzi Marwala and Tshilidzi Marwala and Jongwon Kim",

booktitle = "Proceedings - 2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016",

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Liang, JW & Chen, HY 2016, Prandtl-Ishlinskii model-based adaptive feedforward control for piezoelectric-stack-actuator-driven systems. in D Zhang, M Balas, T Marwala, T Marwala & J Kim (eds), Proceedings - 2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016., 2952757, ACM International Conference Proceeding Series, vol. 13-15-July-2016, Association for Computing Machinery, 2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016, Kitakyushu, Japan, 13/07/16. https://doi.org/10.1145/2952744.2952757

Prandtl-Ishlinskii model-based adaptive feedforward control for piezoelectric-stack-actuator-driven systems. / Liang, Jin Wei; Chen, Hung Yi.
Proceedings - 2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016. ed. / Dan Zhang; Marius Balas; Tshilidzi Marwala; Tshilidzi Marwala; Jongwon Kim. Association for Computing Machinery, 2016. 2952757 (ACM International Conference Proceeding Series; Vol. 13-15-July-2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Prandtl-Ishlinskii model-based adaptive feedforward control for piezoelectric-stack-actuator-driven systems

AU - Liang, Jin Wei

AU - Chen, Hung Yi

PY - 2016/7/13

Y1 - 2016/7/13

N2 - In this paper, a Prandtl-Ishlinskii (PI) model-based adaptive feedforward controller is proposed to overcome hysteretic behaviors of a piezoelectric-stack-actuator (PSA)-driven system. The feedforward control design is centered on the PI inverse hysteresis model. In addition, in order to capture the rate-dependent characteristics of the PSA-driven system, a normalized least mean-squares (NLMS) algorithm is adopted to online identify optimal weight vectors of the PI hysteresis models. The identified PI hysteresis model is then utilized to compute the inverse PI model. The feedforward controller can be designed accordingly. Tracking experiments focusing on sinusoidal and random-like signals were performed on a high-stiffness flexible micro-positioning system driven by a PSA. The experimental results show that the tracking accuracy is significantly improved using solely open-loop feedforward control in comparison with traditional open-loop control without compensation.

AB - In this paper, a Prandtl-Ishlinskii (PI) model-based adaptive feedforward controller is proposed to overcome hysteretic behaviors of a piezoelectric-stack-actuator (PSA)-driven system. The feedforward control design is centered on the PI inverse hysteresis model. In addition, in order to capture the rate-dependent characteristics of the PSA-driven system, a normalized least mean-squares (NLMS) algorithm is adopted to online identify optimal weight vectors of the PI hysteresis models. The identified PI hysteresis model is then utilized to compute the inverse PI model. The feedforward controller can be designed accordingly. Tracking experiments focusing on sinusoidal and random-like signals were performed on a high-stiffness flexible micro-positioning system driven by a PSA. The experimental results show that the tracking accuracy is significantly improved using solely open-loop feedforward control in comparison with traditional open-loop control without compensation.

KW - Adaptive feedforward control

KW - Normalized least mean-squares (NLMS)

KW - Prandtl-Ishlinskii hysteresis model

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DO - 10.1145/2952744.2952757

M3 - 会议稿件

AN - SCOPUS:84985930976

T3 - ACM International Conference Proceeding Series

BT - Proceedings - 2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016

A2 - Zhang, Dan

A2 - Balas, Marius

A2 - Marwala, Tshilidzi

A2 - Kim, Jongwon

PB - Association for Computing Machinery

T2 - 2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016

Y2 - 13 July 2016 through 15 July 2016

ER -

Liang JW, Chen HY. Prandtl-Ishlinskii model-based adaptive feedforward control for piezoelectric-stack-actuator-driven systems. In Zhang D, Balas M, Marwala T, Marwala T, Kim J, editors, Proceedings - 2016 International Conference on Artificial Intelligence and Robotics, ICAIR 2016 and 2016 International Conference on Automation, Control and Robotics Engineering, CACRE 2016. Association for Computing Machinery. 2016. 2952757. (ACM International Conference Proceeding Series). doi: 10.1145/2952744.2952757

Prandtl-Ishlinskii model-based adaptive feedforward control for piezoelectric-stack-actuator-driven systems

Abstract

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Bibliographical note

Keywords

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