Publication detail

Adaptive hysteresis compensation on an experimental nanopositioning platform

RYBA, L. DOKOUPIL, J. VODA, A. BESANCON, G.

Original Title

Adaptive hysteresis compensation on an experimental nanopositioning platform

Type

journal article in Web of Science

Language

English

Original Abstract

This paper presents a novel adaptive approach for hysteresis compensation applied to a piezoelectric actuator in one axis of anSTM-like lab-mademicro-/nanopositioning platform. The idea is to identify a compensating static parametric model, which imitates directly the inverse model of the nonlinearity. In this way, the approach is less complex than those based on model inversion. In addition, the identification ismade online, allowing to consider a simple polynomial model, and to adapt its parameters according to the actual hysteresis curve which is faced (ascending or descending path, varying input amplitude, etc.). In order to be able to track possibly fast parameter variations, an original adaptation algorithm is proposed within the Bayesian framework, and including an exponential forgetting factorwith optimal data-driven tuning. Illustrative experimental results are finally presented for tracking both triangular and sinusoidal reference signals with varying amplitude.

Keywords

Hysteresis compensation; adaptive Bayesian estimation; variable forgetting factor; piezoelectric actuator; nanopositioning

Authors

RYBA, L.; DOKOUPIL, J.; VODA, A.; BESANCON, G.

Released

21. 9. 2016

Publisher

Taylor and Francis

ISBN

1366-5820

Periodical

INTERNATIONAL JOURNAL OF CONTROL

Year of study

1

Number

1

State

United Kingdom of Great Britain and Northern Ireland

Pages from

1

Pages to

14

Pages count

14

URL

http://dx.doi.org/10.1080/00207179.2016.1214874

BibTex

@article{BUT128738,
  author="Lukasz {Ryba} and Jakub {Dokoupil} and Alina {Voda} and Gildas {Besancon}",
  title="Adaptive hysteresis compensation on an experimental nanopositioning platform",
  journal="INTERNATIONAL JOURNAL OF CONTROL",
  year="2016",
  volume="1",
  number="1",
  pages="1--14",
  doi="10.1080/00207179.2016.1214874",
  issn="1366-5820",
  url="http://dx.doi.org/10.1080/00207179.2016.1214874"
}