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Inverse rate-dependent prandtl-ishlinskii model for hysteresis nonlinearities compensation

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3 Author(s)
Al Janaideh, M. ; Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, QC, Canada ; Rakheja, S. ; Su, C.Y.

Inverse of the rate-dependent Prandtl-Ishlinskii model is proposed to compensate rate-dependent hysteresis effects in smart actuators. The rate-dependent hysteresis properties of a piezoceramic actuator were characterized using the rate-dependent play operators and a dynamic density function. The inverse model is subsequently obtained analytically from the rate-dependent play operators and a dynamic density function. The effectiveness of the analytical inverse is demonstrated by its implementation as a feed-forward compensator to mitigate the rate-dependent hysteresis effects over a wide frequency range of actuator input. The proposed model resulted in exact inversion and thus could be quite attractive for compensating the hysteresis effects of smart actuators in real-time applications.

Published in:

Automation and Logistics, 2009. ICAL '09. IEEE International Conference on

Date of Conference:

5-7 Aug. 2009

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