NDLI: A real-time inverse-based hysteresis compensation with adaptation?

Content Provider	IEEE Xplore Digital Library
Author	Ryba, Lukasz Dokoupil, Jakub Voda, Alina Besancon, Gildas
Copyright Year	2015
Description	Author affiliation: Joseph Fourier University - Grenoble 1, France (Voda, Alina) \|\| Central European Institute of Technology, Brno University of Technology, 616 00, Czech Republic (Dokoupil, Jakub) \|\| Grenoble INP, Control Systems Department, GIPSA-lab, BP 46, 38402 Saint-Martin d'Hères, France (Ryba, Lukasz; Besancon, Gildas)
Abstract	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.
Starting Page	7335
Ending Page	7340
File Size	1962589
Page Count	6
File Format	PDF
e-ISBN	9781479978861
DOI	10.1109/CDC.2015.7403377
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-12-15
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hysteresis Mathematical model Adaptation models Piezoelectric actuators Bandwidth Numerical models Computational modeling
Content Type	Text
Resource Type	Article

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