Title :
H∞ control for a smart micro-positioning system with an analytical model for the output of the inverse compensation
Author :
Rakotondrabe, Micky ; Aljanaideh, Omar ; Al Janaideh, Mohammad
Author_Institution :
Dept. of Autom. Control & Micro-Mechatron. Syst. Dept. (AS2M), Univ. of Franche-Comt at Besanon (UFC), France
Abstract :
An experimental study was carried out on a piezoelectric actuator in order to explore the benefits of a mathematical formula (Al Janaideh, 2013), that describes the output of the inverse compensation when an inverse Prandtl-Ishlinskii hysteresis model is applied as a feedforward compensator. The inverse Prandtl-Ishlinskii was first formulated and applied for compensation of hysteresis nonlinearities of a piezoelectric actuator. The theoretical formula was afterwards employed to construct an H∞ feedback control. The controller was calculated and applied to the piezoelectric actuator with the inverse feedforward model. The experimental results verify the effectiveness of the controller and the benefits that the theoretical formula of the inverse compensation can contribute.
Keywords :
H∞ control; compensation; feedforward; micropositioning; piezoelectric actuators; H∞ feedback control; feedforward compensator; hysteresis nonlinearities; inverse Prandtl-Ishlinskii hysteresis model; inverse compensation; inverse feedforward model; piezoelectric actuator; smart micropositioning system; Adaptive control; Feedforward neural networks; Hysteresis; Piezoelectric actuators; Standards;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7171133
