An evaluation framework for inverse hysteresis models

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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Control schemes employing inverse-based hysteresis compensation are successful in accurate position control of smart material actuators. However, the effectiveness of the inverse hysteresis model in cancelling hysteresis is not addressed in the evaluation of these control schemes. Classical methods rely on closed-loop tracking error analysis which does not allow evaluation of the inverse model independent of the controller. This leads to lack of a deterministic measure of the amount of hysteresis cancelled by the model, while the influence of an inaccurate model on the overall tracking error also remains unclear. This paper proposes a framework to verify the effectiveness and accuracy of inverse hysteresis models by quantifying the hysteresis non-linearities remaining after hysteresis compensation. Further, by estimating the linear and residual non linear dynamics, valuable information is provided for controller design. The framework is experimentally validated for a Shape Memory Alloy (SMA) actuator. The framework can be seen as a tool to explore and compare different inverse hysteresis models prior to controller design.
Originele taal-2Engels
Titel2017 IEEE Conference on Control Technology and Applications (CCTA) August 27-30, 2017. Kohala Coast, Hawai'i
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's317 - 322
Aantal pagina's6
ISBN van elektronische versie978-1-5090-2182-6
ISBN van geprinte versie978-1-5090-2183-3
DOI's
StatusGepubliceerd - 6 okt 2017

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    Mohan, R., Gaasbeek, R. I., & de Jager, B. (2017). An evaluation framework for inverse hysteresis models. In 2017 IEEE Conference on Control Technology and Applications (CCTA) August 27-30, 2017. Kohala Coast, Hawai'i (blz. 317 - 322). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CCTA.2017.8062482