Knowledge Commons of Institute of Automation,CAS
A neural network-based model predictive controller for displacement tracking of piezoelectric actuator with feedback delays | |
Du, Zhangming1,2; Zhou, Chao1; Cao, Zhiqiang1; Wang, Shuo1,3; Cheng, Long1; Tan, Min1 | |
发表期刊 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS |
ISSN | 1729-8814 |
2021-11-01 | |
卷号 | 18期号:6页码:11 |
摘要 | Piezoelectric actuators are widely used in micro/nanoscale robotic manipulators. Due to its hysteresis and dynamic-related nonlinearity, accurate displacement tracking control of piezoelectric actuator is challenging. Besides, in some low-cost practical systems with low sampling rate, transmission delay causes mismatches between feedback and real displacement, further increasing the challenge in tracking control. In this article, a neural network-based model predictive controller (MPC) is proposed for precise tracking control of piezoelectric actuator's displacement in situation where feedback is slow and delayed. The prediction model is based on a nonlinear-autoregressive-moving-average-with-exogenous-inputs framework, which outputs entire prediction horizon of future displacement in a single time, and is fulfilled by a multilayer feedforward neural network. An extended Kalman filter-based estimation for displacement is introduced to relieve the influence of feedback delays so as to improve dynamic performance of the controller. Another neural network is trained to provide initial values for MPC to reduce computation costs and improve performance in dynamic tracking. In a series of tracking experiments, the effectiveness of proposed controller is verified. |
关键词 | Piezoelectric actuator neural network displacement tracking model predictive control |
DOI | 10.1177/17298814211057698 |
关键词[WOS] | HYSTERESIS COMPENSATION ; FEEDFORWARD ; SYSTEMS ; INVERSION |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[62033013] ; Strategic Priority Research Program of Chinese Academy of Sciences[XDB32050100] |
项目资助者 | National Natural Science Foundation of China ; Strategic Priority Research Program of Chinese Academy of Sciences |
WOS研究方向 | Robotics |
WOS类目 | Robotics |
WOS记录号 | WOS:000727305700001 |
出版者 | SAGE PUBLICATIONS INC |
七大方向——子方向分类 | 智能控制 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/46555 |
专题 | 复杂系统认知与决策实验室_先进机器人 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Zhou, Chao |
作者单位 | 1.Chinese Acad Sci, Inst Automat, 95 Zhongguancun East Rd,POB 2728, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China 3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Du, Zhangming,Zhou, Chao,Cao, Zhiqiang,et al. A neural network-based model predictive controller for displacement tracking of piezoelectric actuator with feedback delays[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2021,18(6):11. |
APA | Du, Zhangming,Zhou, Chao,Cao, Zhiqiang,Wang, Shuo,Cheng, Long,&Tan, Min.(2021).A neural network-based model predictive controller for displacement tracking of piezoelectric actuator with feedback delays.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,18(6),11. |
MLA | Du, Zhangming,et al."A neural network-based model predictive controller for displacement tracking of piezoelectric actuator with feedback delays".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 18.6(2021):11. |
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