Hysteresis Modelling and Feedforward Control of Piezoelectric Actuator Based on Simplified Interval Type-2 Fuzzy
Peng-Zhi Li1, De-Fu Zhang2, Jun-Yan Hu1
1Robotics for Extreme Environments Lab, Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK.
Sensors (Basel, Switzerland)
|May 7, 2020
Summary
A simplified interval type-2 (IT2) fuzzy system effectively models piezoelectric actuator hysteresis. This approach enables precise feedforward control, significantly reducing tracking errors for micro-manipulator applications.
Area of Science:
- Robotics and Control Systems
- Materials Science and Engineering
- Computational Intelligence
Background:
- Piezoelectric actuators are crucial for micro-manipulator precision but suffer from hysteresis.
- Accurate modeling and control of hysteresis are essential for reliable performance.
Purpose of the Study:
- To propose a simplified interval type-2 (IT2) fuzzy system for hysteresis modeling.
- To implement feedforward control using the developed IT2 fuzzy model for piezoelectric actuators.
Main Methods:
- Developed a simplified IT2 fuzzy system with analytically computable derivatives for parameter optimization.
- Employed gradient-based optimization for IT2 fuzzy hysteresis model identification.
- Validated the model's generalization performance and applied its analytic inverse for feedforward control.
Main Results:
- Achieved a maximum model identification error of 0.42% using only three IT2 fuzzy rules.
- Demonstrated significant hysteresis reduction in piezoelectric actuators.
- Attained a maximum tracking error of 4.6% for a 20 Hz sinusoidal trajectory.
Conclusions:
- The proposed simplified IT2 fuzzy system offers an accurate and efficient method for hysteresis modeling.
- The developed model enables effective feedforward control, improving piezoelectric actuator performance.
- This approach enhances the precision and reliability of micro-manipulator systems.
Keywords:
Feedforward controlGradient based optimizationHysteresisInterval type-2 fuzzy systemPiezoelectric actuatorMore Related Videos
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