Preisach model is a well-known hysteresis identification method in which the hysteresis is modeled by linear combination of hysteresis operators. Although Preisach model describes the main features of system with hysteresis behavior, due to its rigorous numerical nature, it is not convenient to use in real-time control applications. Here a novel neural network approach based on the Preisach model is addressed, provides accurate hysteresis nonlinearity modeling in comparison with the classical Preisach model and can be used for many applications such as hysteresis nonlinearity control and identification in SMA and Piezo actuators and performance evaluation in some physical systems such as magnetic materials. To evaluate the proposed approach, an experimental apparatus consisting one-dimensional flexible aluminum beam actuated with an SMA wire is used. It is shown that the proposed ANN-based Preisach model can identify hysteresis nonlinearity more accurately than the classical one. It also has powerful ability to precisely predict the higher-order hysteresis minor loops behavior even though only the first-order reversal data are in use. It is also shown that to get the same precise results in the classical Preisach model, many more data should be used, and this directly increases the experimental cost.
Synthesis of Real-Time Control Systems for Multilink Industrial Robots Based on Hybrid Neural Network Approach of Solution Inverse Kinematics Problem
