Publication detail

A real-time inverse-based hysteresis compensation with adaptation

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

Original Title

A real-time inverse-based hysteresis compensation with adaptation

Type

conference paper

Language

English

Original Abstract

This paper presents a novel approach for compensation of hysteresis present for example in piezoelectric actuators. This adverse phenomenon limits seriously their accuracy, especially for large range positioning. The advantage of the proposed method is that it only requires the parametric description of the hysteresis model and does not require modeling its inverse directly. Instead, a combination of Newton and bisection algorithms is incorporated to solve for proper compensation input on-line. A simple polynomial model is chosen to approximate the hysteresis curve. The novelty of the proposed method is based on the adaptation of such a parametric model in real-time. In this way, one avoids modeling both ascending and descending branches of hysteresis separately and/or for different amplitude of the input. In order to track time varying parameters an adaptive estimator with stabilized exponential forgetting in a Bayesian framework is proposed. The optimal value of the forgetting factor is found by solving a maximin problem containing the Kullback-Leibler divergences. The method is validated experimentally on piezoelectric actuator in horizontal axis of some STM-like lab-made nanopositioning platform.

Keywords

hysteresis, piezoelectric actuator, Bayesian methods

Authors

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

RIV year

2015

Released

15. 12. 2015

Publisher

Institute of electrical and electronics engineers inc.

ISBN

978-1-4799-7884-7

Book

54th IEEE Conference on Decision and Control

ISBN

0743-1546

Periodical

54th IEEE Conference on Decision and Control

State

United States of America

Pages from

7335

Pages to

7340

Pages count

6

URL

http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7403377&searchWithin=%22Authors%22:.QT.Jakub%20Dokoupil.QT.&newsearch=true

BibTex

@inproceedings{BUT119606,
  author="Lukasz {Ryba} and Jakub {Dokoupil} and Alina {Voda} and Gildas {Besancon}",
  title="A real-time inverse-based hysteresis compensation with adaptation",
  booktitle="54th IEEE Conference on Decision and Control",
  year="2015",
  journal="54th IEEE Conference on Decision and Control",
  pages="7335--7340",
  publisher="Institute of electrical and electronics engineers inc.",
  isbn="978-1-4799-7884-7",
  issn="0743-1546",
  url="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7403377&searchWithin=%22Authors%22:.QT.Jakub%20Dokoupil.QT.&newsearch=true"
}