An Inversion-free Model Predictive Control with Error Compensation for Piezoelectric Actuators
Liu WC(刘伟川); Cheng L(程龙); Hou ZG(侯增广); Tan M(谭民); long cheng
2015
会议名称2015 American Control Conference
会议录名称2015 American Control Conference
会议日期July 1-3, 2015
会议地点Chicago, IL, USA
摘要
This paper addresses an inversion-free model
predictive control with error compensation for piezoelectric
actuators (PEAs), which is based on a dynamic linearized
multi-layer feedforward neural network model. By the proposed
method, the inverse model of the inherent hysteresis in PEAs
is not required, and the control law can be obtained in an
explicit form. By using the technique of constrained quadratic
programming, the proposed method still works well when
dealing with the plant physical constraints. Moreover, an
error compensation term is introduced into the control law to
attenuate the steady-state error. To verify the effectiveness of the
proposed method, experiments are conducted on a commercial
PEA. The experiment results show that the proposed method
has a good tracking performance for PEAs.
关键词Hysteresis Neural Network Modeling Dynamic Linearization Model Predictive Control Piezoelectric Actuators
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/11666
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者long cheng
推荐引用方式
GB/T 7714
Liu WC,Cheng L,Hou ZG,et al. An Inversion-free Model Predictive Control with Error Compensation for Piezoelectric Actuators[C],2015.
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