An Inversion-free Model Predictive Control with Error Compensation for Piezoelectric Actuators

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	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)
	2015
会议名称	2015 American Control Conference
会议日期	July 1-3, 2015
会议地点	Chicago, IL, USA
关键词	hysteresis, neural network modeling, dynamic linearization, model predictive control, piezoelectric actuators
通讯作者	long cheng
英文摘要	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.
会议录	2015 American Control Conference
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/11666]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
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]. 见:2015 American Control Conference. Chicago, IL, USA. July 1-3, 2015.