Skip to main content
SpringerLink
Log in

LuGre Model Based Hysteresis Compensation of a Piezo-Actuated Mechanism

  • Conference paper
  • First Online:
Intelligent Autonomous Systems 14 (IAS 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

Included in the following conference series:

Abstract

This paper presents a combined feedforward plus feedback control approach to compensate the hysteresis effect, which degrades the positioning accuracy of piezo-actuated mechanism. The LuGre friction model is extended to represent the nonlinear dynamics of the piezo-actuated positioning mechanism, and then the unknown model parameters are identified with the particle swarm optimization (PSO). Based on the developed mathematical model, the inverse LuGre model based feedforward plus feedback control is designed for the motion tracking control. Experimental results show that the LuGre model based hybrid control approach achieves a satisfactory position tracking performance. Owing to a simple structure, the proposed control approach can be implemented in other types of hysteretic systems.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 259.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 329.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Zhou, C., Gong, Z., Chen, B., Cao, Z., Yu, J., Ru, C., Tan, M., Xie, S., Sun, Y.: A closed-loop controlled nanomanipulation system for probing nanostructures inside scanning electron microscopes. IEEE/ASME Trans. Mechatron. PP(99), 1–9 (2016)

    Google Scholar 

  2. Putra, A.S., Huang, S., Tan, K.K., Panda, S.K., Lee, T.H.: Design, modeling, and control of piezoelectric actuators for intracytoplasmic sperm injection. IEEE Trans. Control Syst. Technol. 15(5), 879–890 (2007)

    Article  Google Scholar 

  3. Xu, Q.: Robust impedance control of a compliant microgripper for high-speed position/force regulation. IEEE Trans. Ind. Electron. 62(2), 1201–1209 (2015)

    Article  Google Scholar 

  4. Ang, W.T., Khosla, P.K., Riviere, C.N.: Feedforward controller with inverse rate-dependent model for piezoelectric actuators in trajectory-tracking applications. IEEE/ASME Trans. Mechatron. 12(2), 134–142 (2007)

    Article  Google Scholar 

  5. Comstock, R.H.: Charge control of piezoelectric actuators to reduce hysteresis effects. U.S. Patent No. 4,263,527. 21 Apr 1981

    Google Scholar 

  6. Ronkanen, P., Kallio, P., Vilkko, M., Koivo, H.N.: Displacement control of piezoelectric actuators using current and voltage. IEEE/ASME Trans. Mechatron. 16(1), 160–166 (2011)

    Article  Google Scholar 

  7. Xu, Q.: Piezoelectric nanopositioning control using second-order discrete-time terminal sliding-mode strategy. IEEE Trans. Ind. Electron. 62(12), 7738–7748 (2015)

    Article  Google Scholar 

  8. Cheng, L., Liu, W., Hou, Z.G., Yu, J., Tan, M.: Neural-network-based nonlinear model predictive control for piezoelectric actuators. IEEE Trans. Ind. Electron. 62(12), 7717–7727 (2015)

    Article  Google Scholar 

  9. Wang, F., Liu, Z., Zhang, Y., Chen, C.P.: Adaptive robust image-based visual servoing control of robot with unknown actuator hysteresis. Nonlinear Dyn. 1–15 (2016)

    Google Scholar 

  10. Zhu, W., Wang, D.H.: Non-symmetrical bouccwen model for piezoelectric ceramic actuators. Sens. Actuators A: Phys. 181, 51–60 (2012)

    Article  Google Scholar 

  11. Lin, F.J., Shieh, H.J., Huang, P.K., Teng, L.T.: Adaptive control with hysteresis estimation and compensation using rfnn for piezo-actuator. IEEE Trans. Ultrason. Ferroelectr. Freq. Control 53(9), 1649–1661 (2006)

    Article  Google Scholar 

  12. Charalampakis, A.E., Dimou, C.K.: Identification of bouccwen hysteretic systems using particle swarm optimization. Comput. Struct. 88(21–22), 1197–1205 (2010)

    Article  Google Scholar 

  13. Yang, M.J., Gu, G.Y., Zhu, L.M.: Parameter identification of the generalized prandtlcishlinskii model for piezoelectric actuators using modified particle swarm optimization. Sens. Actuators A: Phys. 189, 254–265 (2013)

    Article  Google Scholar 

  14. De Wit, C.C., Olsson, H., Astrom, K.J., Lischinsky, P.: A new model for control of systems with friction. IEEE Trans. Autom. Control 40(3), 419–425 (1995)

    Article  MathSciNet  MATH  Google Scholar 

  15. Liu, Y., Zhang, X., Zhang, Y., Xu, Q.: Design and control of a novel piezo-driven micro-injector. In: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1985–1990. IEEE (2015)

    Google Scholar 

  16. Kennedy, J.: Particle swarm optimization. In: Encyclopedia of Machine Learning. Springer, pp. 760–766 (2011)

    Google Scholar 

Download references

Acknowledgements

This work was supported in part by the National Natural Science Foundation of China under Grant No. 51575545, the Macao Science and Technology Development Fund under Grant No. 090/2015/A3 and 052/2014/A1, and the Research Committee of the University of Macau under Grant No. MYRG078(Y1-L2)-FST13-XQS.

Author information

Authors and Affiliations

  1. Faculty of Science and Technology, Department of Electromechanical Engineering, University of Macau, Avenida da Universidade, Taipa, Macau, China

    Guangwei Wang & Qingsong Xu

Authors
  1. Guangwei Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Qingsong Xu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Qingsong Xu .

Editor information

Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Weidong Chen

  2. Osaka University , Osaka, Japan

    Koh Hosoda

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. Osaka University , Osaka, Japan

    Masahiro Shimizu

  5. Shanghai Jiao Tong University , Shanghai, China

    Hesheng Wang

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Wang, G., Xu, Q. (2017). LuGre Model Based Hysteresis Compensation of a Piezo-Actuated Mechanism. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_47

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-48036-7_47

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation