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Operator-based parallel compensation control for hysteresis using ELM-based stop-type PI model

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3 Author(s)
Changan Jiang ; RIKEN-TRI Collaboration Center for Human-Interactive Robot Res., Nagoya, Japan ; Mingcong Deng ; Hayakawa, Y.

In this paper, operator-based parallel compensation control for hysteresis is considered. In order to describe the hysteresis, play-type Prandtl-Ishlinskii (PI) hysteresis model is applied. By using properties between play and stop hysteresis operators, a parallel compensator is designed by stop-type PI hysteresis model which is constructed by using Extreme Learning Machine (ELM). As a result, the hysteresis dynamics is compensated. According to operator-based right coprirne factorization, a feedback controller and a tracking controller are designed to guarantee the output tracking performance. Finally, the numerical simulation results are presented to validate the effectiveness of the proposed method.

Published in:

Mechatronics and Automation (ICMA), 2012 International Conference on

Date of Conference:

5-8 Aug. 2012