Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 23, Issue 2, Pages 966-971Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2018.2805761
Keywords
Hysteresis nonlinearity; inverse compensation; inverse multiplicative structure (IMS); Krasnoselskii-Pokrovskii (KP) model; piezoelectric actuator
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Funding
- National Natural Science Foundation of China [11472090]
- Ontario Centres of Excellence TalentEdge Fellowship Program [25690]
- Alexander von Humboldt Foundation
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The Krasnoselskii-Pokrovskii (KP) model, as one of the popular operator-based hysteresis models, is commonly used to describe the hysteresis nonlinearities, especially in the smart materials-based actuators. Due to the complex formulation of the KP model, it is a great challenge to construct the inverse for the KP model. In this paper, an inverse multiplicative structure (IMS) is employed to find the inverse of the KP model. The merit of IMS is that this approach is simple to implement and the detailed knowledge of the hysteresis model is not required. However, the IMS technique cannot be directly applied to construct the inverse compensator for the KP model due to its complexity. Toward this problem, a new expression of the KP model is developed, where the input variable is expressed explicitly. With this new expression, the KP model can fit into IMS. Experiments are conducted to validate the effectiveness of the developed inverse compensator on a piezoelectric platform.
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