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Abstract

With the increasing popularity of actuators involving smart materials like piezoelectric, control of such materials becomes important. The existence of the inherent hysteretic behavior hinders the tracking accuracy of the actuators. To make matters worse, the hysteretic behavior changes with rate. One of the suggested ways is to have a feedforward controller to linearize the relationship between the input and output. Thus, the hysteretic behavior of the actuator must be first modeled by sensing the relationship between the input voltage and output displacement. Unfortunately, the hysteretic behavior is dependent on individual actuator and also environmental conditions like temperature. In this fast moving world, time is money and it is very costly to model the hysteresis regularly. In addition, the hysteretic behavior of the actuators also changes with age. Base on the studies done on the phenomena hysteretic behavior with rate, this paper proposes an adaptive rate-dependent feedforward controller with Prandtl-Ishlinskii (PI) hysteresis operators for piezoelectric actuators. This adaptive controller is achieved by adapting the coefficients to manipulate the weights of the play operators. Actual experiments are conducted to demonstrate the effectiveness of the adaptive controller.

Keywords

medical robotics, adaptive control , feedforward , piezoelectric actuators

Notes

Sponsor: National Institutes of Health

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Associated Project(s): Micron: Intelligent Microsurgical Instruments

Text Reference

U-Xuan Tan, Ferdinan Widjaja, Win Tun Latt, K. C. Veluvolu, C. Y. Shee, Cameron Riviere, and Wei-Tech Ang, "Adaptive rate-dependent feedforward controller for hysteretic piezoelectric actuator," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2008, pp. 787-792.

BibTeX Reference

@inproceedings{Riviere_2008_6712,
   author = "U-Xuan Tan and Ferdinan Widjaja and Win Tun Latt and K. C. Veluvolu and C. Y. Shee and Cameron Riviere and Wei-Tech Ang",
   title = "Adaptive rate-dependent feedforward controller for hysteretic piezoelectric actuator",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)",
   pages = "787-792",
   month = "May",
   year = "2008",
}

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