A neural network based controller for piezoelectric-actuated stick-slip devices
Long Cheng;  Weichuan Liu;  Chenguang Yang;  Tingwen Huang;  Zeng-Guang Hou;  Min Tan
发表期刊IEEE Transactions on Industrial Electronics
2018
卷号65期号:3页码:2598-2607
摘要Piezoelectric-actuated stick-slip device (PASSD) is a highly promising equipment that is composed of one end-effector, one piezoelectric actuator (PEA) and one driving object adhered to the PEA. Since the end-effector can slip on the surface of the driving object, the PASSD is capable of realizing the macrolevel motion with the microlevel precision. Due to the following two reasons: the complicated relative motion between the end-effector and the driving object, and the inherent hysteresis nonlinearity in the PEA, the ultraprecision displacement control of the end-effector of PASSDs raises a real challenge, which is rarely reported in the literature. Toward solving this challenge, a neural-network-based controller is proposed in this paper. First, a neural-network-based model is proposed to capture the relative motion between the end-effector and the driving object. Second, a neural-network-based inversion model is developed to online calculate the desired position of the PEA under the predesigned reference of the end-effector. Third, a dynamic linearized neural-network-based model predictive control method, which can effectively handle the hysteresis nonlinearity, is employed to implement the displacement control of the PEA, which finally results in an overall high-precision controller of the end-effector. Finally, a PASSD prototype has been implemented and tested through experimental studies to demonstrate the effectiveness of the proposed approach.
关键词End-effector neural network piezoelectric actuator (PEA) stick–slip
DOI10.1109/TIE.2017.2740826
引用统计
被引频次:8[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/23171
专题复杂系统管理与控制国家重点实验室_先进机器人
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Long Cheng, Weichuan Liu, Chenguang Yang,et al. A neural network based controller for piezoelectric-actuated stick-slip devices[J]. IEEE Transactions on Industrial Electronics,2018,65(3):2598-2607.
APA Long Cheng, Weichuan Liu, Chenguang Yang, Tingwen Huang, Zeng-Guang Hou,& Min Tan.(2018).A neural network based controller for piezoelectric-actuated stick-slip devices.IEEE Transactions on Industrial Electronics,65(3),2598-2607.
MLA Long Cheng,et al."A neural network based controller for piezoelectric-actuated stick-slip devices".IEEE Transactions on Industrial Electronics 65.3(2018):2598-2607.
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