Dataset Information

Adaptive Tracking Control for the Piezoelectric Actuated Stage Using the Krasnosel'skii-Pokrovskii Operator.

ABSTRACT: In this paper, a discrete second order linear equation with the Krasnosel'skii-Pokrovskii (KP) operator is used to describe the piezoelectric actuated stage. The weights of the KP operators are identified by the gradient descent algorithm. To suppress the hysteresis nonlinearity of the piezoelectric actuated stage, this paper proposes an adaptive tracking control with the hysteresis decomposition on the designed error surface. The proposed adaptive tracking controller dispenses with any form of the feed-forward hysteresis compensation and the unknown parameters of the discrete second order linear equation are adaptively adjusted. Some simulations are implemented to verify the effectiveness of the KP operators, then a series of modeling and control experiments are carried out on the piezoelectric actuated stages experimental systems. The comparative experimental results verify the feasibility of the KP operators modeling method and the adaptive tracking control method.

SUBMITTER: Xu R

PROVIDER: S-EPMC7281528 | biostudies-literature | 2020 May

REPOSITORIES: biostudies-literature

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Adaptive Tracking Control for the Piezoelectric Actuated Stage Using the Krasnosel'skii-Pokrovskii Operator.

Xu Rui R Tian Dapeng D Wang Zhongshi Z

Micromachines 20200525 5

In this paper, a discrete second order linear equation with the Krasnosel'skii-Pokrovskii (KP) operator is used to describe the piezoelectric actuated stage. The weights of the KP operators are identified by the gradient descent algorithm. To suppress the hysteresis nonlinearity of the piezoelectric actuated stage, this paper proposes an adaptive tracking control with the hysteresis decomposition on the designed error surface. The proposed adaptive tracking controller dispenses with any form of ...[more]

PMID: 32466151

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Project description:IntroductionShape memory alloy (SMA) actuators are attractive options for robotic applications due to their salient features. So far, achieving precise control of SMA actuators and applying them to human-robot interaction scenarios remains a challenge.MethodsThis paper proposes a novel approach to deal with the control problem of a SMA actuator. Departing from conventional mechanism models, we attempt to describe this nonlinear plant using a gray-box model, in which only the input current and the output displacement are measured. The control scheme consists of the model parameters updating and the control law calculation. The adaptation algorithm is founded on the multi-innovation concept and incorporates a dead-zone weighted factor, aiming to concurrently reduce computational complexities and enhance robustness properties. The control law is based on a PI controller, the gains of which are designed by the pole assignment technique. Theoretical analysis proves that the closed-loop performance can be ensured under mild conditions.ResultsThe experiments are first conducted through the Beckhoff controller. The comparative results suggest that the proposed adaptive PI control strategy exhibits broad applicability, particularly under load variations. Subsequently, the SMA actuator is designed and incorporated into the hand rehabilitation robot. System position tracking experiments and passive rehabilitation training experiments for various gestures are then conducted. The experimental outcomes demonstrate that the hand rehabilitation robot, utilizing the SMA actuator, achieves higher position tracking accuracy and a more stable system under the adaptive control strategy proposed in this paper. Simultaneously, it successfully accommodates hand rehabilitation movements for multiple gestures.DiscussionThe adaptive controller proposed in this paper takes into account both the computational complexity of the model and the accuracy of the control results, Experimental results not only demonstrate the practicality and reliability of the controller but also attest to its potential application in human-machine interaction within the field of neural rehabilitation.

Dataset Information

Adaptive Tracking Control for the Piezoelectric Actuated Stage Using the Krasnosel'skii-Pokrovskii Operator.

Publications

Adaptive Tracking Control for the Piezoelectric Actuated Stage Using the Krasnosel'skii-Pokrovskii Operator.

Similar Datasets

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