A neural network-based model predictive controller for displacement tracking of piezoelectric actuator with feedback delays

doi:10.1177/17298814211057698

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

	A neural network-based model predictive controller for displacement tracking of piezoelectric actuator with feedback delays
	Du, Zhangming 1,3; Zhou, Chao 3; Cao, Zhiqiang 3; Wang, Shuo 2,3; Cheng, Long 3; Tan, Min 3
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2021-11-01
卷号	18 期号:6 页码:11
关键词	Piezoelectric actuator neural network displacement tracking model predictive control
ISSN号	1729-8814
DOI	10.1177/17298814211057698
通讯作者	Zhou, Chao(chao.zhou@ia.ac.cn)
英文摘要	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.
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]
WOS关键词	HYSTERESIS COMPENSATION ; FEEDFORWARD ; SYSTEMS ; INVERSION
WOS研究方向	Robotics
语种	英语
出版者	SAGE PUBLICATIONS INC
WOS记录号	WOS:000727305700001
资助机构	National Natural Science Foundation of China ; Strategic Priority Research Program of Chinese Academy of Sciences
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/46554]
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
通讯作者	Zhou, Chao
作者单位	1.Univ Chinese Acad Sci, Beijing, Peoples R China 2.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai, Peoples R China 3.Chinese Acad Sci, Inst Automat, 95 Zhongguancun East Rd,POB 2728, Beijing 100190, Peoples R China
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.