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

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3 Author(s)
M. Al Janaideh ; Department of Mechanical and Industrial engineering, Concordia University, 1455 de Maisonneuve Blvd. W., Montreal, Quebec, H3G 1M8, Canada ; S. Rakheja ; C. -Y. Su

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:

2009 IEEE International Conference on Automation and Logistics

Date of Conference:

5-7 Aug. 2009