A novel rate-dependent hysteresis modeling and position control technique for piezo-actuated bimorph beams

2016 ◽  
Vol 27 (13) ◽  
pp. 1802-1813 ◽  
Author(s):  
Manadis Ghanbarbakhsh ◽  
Seyed Mehdi Rezaei ◽  
Mohammad Zareinejad ◽  
Ali Tivay ◽  
Ahmed Aly Diaa Mohammed Sarhan
Keyword(s):  
Position Control ◽  
Control Technique ◽  
Rate Dependent ◽  
Hysteresis Modeling

scholarly journals Position control of a bio-inspired semi-active joint with direct inverse hysteresis modeling and compensation

2016 ◽  
Vol 8 (11) ◽  
pp. 168781401667722 ◽  
Author(s):  
Yixiang Liu ◽  
Xizhe Zang ◽  
Zhenkun Lin ◽  
Wenyuan Li ◽  
Jie Zhao
Keyword(s):  
Position Control ◽  
Active Joint ◽  
Hysteresis Modeling ◽  
Inverse Hysteresis

Conditional integrator sliding mode control of an unmanned quadrotor helicopter

2021 ◽  
pp. 095965182110498
Author(s):  
Yohan Díaz-Méndez ◽  
Leandro Diniz de Jesus ◽  
Marcelo Santiago de Sousa ◽  
Sebastião Simões Cunha ◽  
Alexandre Brandão Ramos
Keyword(s):  
Sliding Mode Control ◽  
Transient Response ◽  
Tracking Control ◽  
Position Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Control Problems ◽  
Control Activity ◽  
Mode Control

Sliding mode control (SMC) is a widely used control law for quadrotor regulation and tracking control problems. The purpose of this article is to solve the tracking problem of quadrotors using a relatively novel nonlinear control law based on SMC that makes use of a conditional integrator. It is demonstrated by a motivation example that the proposed control law can improve the transient response and chattering shortcomings of the previous approaches of similar SMC based controllers. The adopted Newton–Euler model of quadrotor dynamics and controller design is treated separately in two subsystems: attitude and position control loops. The stability of the control technique is demonstrated by Lyapunov’s analysis and the effectiveness and performance of the proposed method are compared with a similar integral law, also based on SMC, and validated by tracking control problems using numerical simulations. Simulations were developed in the presence of external disturbances in order to evaluate the controller robustness. The effectiveness of the proposed controller was verified by performance indexes, demonstrating less accumulated tracking errors and control activity and improvement in the transient response and disturbance rejection when compared to a conventional integrator sliding mode controller.

Rate-dependent dynamic hysteresis modeling of piezoelectric micro platform and its parameter identification

2019 ◽  
Vol 27 (3) ◽  
pp. 610-618
Author(s):  
杨晓京 YANG Xiao-jing ◽  
胡俊文 HU Jun-wen ◽  
李庭树 LI Ting-shu
Keyword(s):  
Parameter Identification ◽  
Dynamic Hysteresis ◽  
Rate Dependent ◽  
Hysteresis Modeling

scholarly journals Nonlinear Hysteresis Modeling of Piezoelectric Actuators Using a Generalized Bouc–Wen Model

Micromachines ◽  
2019 ◽  
Vol 10 (3) ◽  
pp. 183 ◽  
Author(s):  
Jinqiang Gan ◽  
Xianmin Zhang
Keyword(s):  
Least Squares Method ◽  
Compliant Mechanism ◽  
Nonlinear Least Squares ◽  
Piezoelectric Actuators ◽  
Positioning Accuracy ◽  
Rate Dependent ◽  
Nonlinear Hysteresis ◽  
Relaxation Functions ◽  
Hysteresis Modeling ◽  
Nonlinear Least Squares Method

Hysteresis behaviors exist in piezoelectric ceramics actuators (PCAs), which degrade the positioning accuracy badly. The classical Bouc–Wen (CB–W) model is mainly used for describing rate-independent hysteresis behaviors. However, it cannot characterize the rate-dependent hysteresis precisely. In this paper, a generalized Bouc–Wen (GB–W) model with relaxation functions is developed for both rate-independent and rate-dependent hysteresis behaviors of piezoelectric actuators. Meanwhile, the nonlinear least squares method through MATLAB/Simulink is adopted to identify the parameters of hysteresis models. To demonstrate the validity of the developed model, a number of experiments based on a 1-DOF compliant mechanism were conducted to characterize hysteresis behaviors. Comparisons of experiments and simulations show that the developed model can describe rate-dependent and rate-independent hysteresis more accurately than the classical Bouc–Wen model. The results demonstrate that the developed model is effective and useful.

scholarly journals Control of Chaos in Rate-Dependent Friction-Induced Vibration Using Adaptive Sliding Mode Control and Impulse Damper

2013 ◽  
Vol 2013 ◽  
pp. 1-8
Author(s):  
Ehsan Maani Miandoab ◽  
Aghil Yousefi-Koma ◽  
Saeed Hashemnia
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Adaptive Sliding Mode ◽  
Chaotic Vibration ◽  
Mode Control ◽  
Rate Dependent

Two different control methods, namely, adaptive sliding mode control and impulse damper, are used to control the chaotic vibration of a block on a belt system due to the rate-dependent friction. In the first method, using the sliding mode control technique and based on the Lyapunov stability theory, a sliding surface is determined, and an adaptive control law is established which stabilizes the chaotic response of the system. In the second control method, the vibration of this system is controlled by an impulse damper. In this method, an impulsive force is applied to the system by expanding and contracting the PZT stack according to efficient control law. Numerical simulations demonstrate the effectiveness of both methods in controlling the chaotic vibration of the system. It is shown that the settling time of the controlled system using impulse damper is less than that one controlled by adaptive sliding mode control; however, it needs more control effort.

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