A survey on hysteresis modeling, identification and control
TL;DR: In this paper, various mathematical models for hysteresis such as Preisach, Krasnosel’skii-Pokrovskii (KP), Prandtl-Ishlinskii (PI), Maxwell-Slip, Bouc-Wen and Duhem are surveyed in terms of their applications in modeling, control and identification of dynamical systems.
About: This article is published in Mechanical Systems and Signal Processing.The article was published on 2014-12-20. It has received 372 citations till now. The article focuses on the topics: System identification & Mathematical model.
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TL;DR: This study will comprehensively review on four main types of transmission systems namely cable-driven mechanism, flexible fluidic actuator, smart material actuators, and magnetic actuators in terms of conceptual designs, modelling, and control as well as their advantages and disadvantages.
Abstract: Robot-assisted surgeries have been integrated and leading to a paradigm shift in surgical fields. With the emergence of Minimally Invasive Surgery (MIS), especially Natural Orifice Transluminal Endoscopic Surgery (NOTES), there are various benefits such as a minimization of side effects, enhancement of precise surgical procedures, and faster recovery after the surgery that patients can take from. However, in order to effectively employ and exploit surgical robots, numerous technical challenges need to be addressed. Among these, actuators play a vital role. To provide deeper understanding on current actuators-driven surgical robot, this study will comprehensively review on four main types of transmission systems namely cable-driven mechanism, flexible fluidic actuators, smart material actuators, and magnetic actuators, in terms of conceptual designs, modelling, and control as well as their advantages and disadvantages. Profound discussions and recommendations for the future of actuators-driven surgical robots will be also pointed out to give the roadmap in the surgical field.
141 citations
TL;DR: An adaptive Takagi–Sugeno (T–S) fuzzy model-based predictive controller with a parallel distributed control structure that outperforms some existing controllers and can be online adjusted according to the real-time tracking error feedback.
Abstract: Piezoelectric actuators (PEAs) are widely used in the nanopositioning applications due to their high stiffness, fast response, and ultrahigh precision. However, PEAs inherently have the hysteresis nonlinearity which can dramatically degrade the tracking performance. This paper proposes an adaptive Takagi–Sugeno (T–S) fuzzy model-based predictive controller with a parallel distributed control structure. Compared to the previous results, the proposed controller does not require the inverse hysteresis model of PEAs, and is easy to be calculated because the predictive subcontroller for each T–S fuzzy rule has an explicit form. Meanwhile, the parameters in the T–S fuzzy model can be online adjusted according to the real-time tracking error feedback, and the offline training accuracy of the T–S fuzzy model is no longer a serious concern. In addition, some physical constraints of the proposed controller can be well handled. To verify the proposed method, experiments are conducted on a commercial PEA product, and experiment results show that the proposed method has a satisfactory tracking performance. Furthermore, comparisons with some existing controllers are made and the proposed adaptive fuzzy model-based predictive controller outperforms these controllers.
102 citations
Cites background from "A survey on hysteresis modeling, id..."
...Hysteresis, one of the dominant nonlinear characteristics of PEAs, is a kind of memory effect where the current displacement of PEAs is affected not only by its current control effort but also by its past displacements [3]....
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TL;DR: An inverse multiplicative structure (IMS) is employed to find the inverse of the Krasnoselskii-Pokrovskii model, and a new expression of the KP model is developed, where the input variable is expressed explicitly and can fit into IMS.
Abstract: 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.
87 citations
Cites methods from "A survey on hysteresis modeling, id..."
...The OH models, including the PrandtlIshlinskii (PI) model [10], [17], [18], Preisach model [19], [20], and Krasnoselskii-Pokrovskii (KP) model [21], [22], are constructed by the superposition of the elementary hysteresis operators such as the play operator, relay operator, and the KP kernel....
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TL;DR: In this article, the authors proposed a dynamic friction model and backlash hysteresis nonlinearity for a pair of TSM slave manipulators to deal with the nonlinear friction and backlash.
85 citations
TL;DR: Functional tests verify that the proposed soft gripper is versatile and adaptable to gripping objects of various shapes, sizes, weights, and orientations and has great potential applications in production and daily life.
Abstract: This work presents the design and test of a novel fabric-based versatile and stiffness-tunable soft gripper integrating soft pneumatic fingers and wrist. The morphology is designed into a ...
81 citations
References
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Book•
01 Jan 1996TL;DR: An Introduction to Genetic Algorithms focuses in depth on a small set of important and interesting topics -- particularly in machine learning, scientific modeling, and artificial life -- and reviews a broad span of research, including the work of Mitchell and her colleagues.
Abstract: From the Publisher:
"This is the best general book on Genetic Algorithms written to date. It covers background, history, and motivation; it selects important, informative examples of applications and discusses the use of Genetic Algorithms in scientific models; and it gives a good account of the status of the theory of Genetic Algorithms. Best of all the book presents its material in clear, straightforward, felicitous prose, accessible to anyone with a college-level scientific background. If you want a broad, solid understanding of Genetic Algorithms -- where they came from, what's being done with them, and where they are going -- this is the book.
-- John H. Holland, Professor, Computer Science and Engineering, and Professor of Psychology, The University of Michigan; External Professor, the Santa Fe Institute.
Genetic algorithms have been used in science and engineering as adaptive algorithms for solving practical problems and as computational models of natural evolutionary systems. This brief, accessible introduction describes some of the most interesting research in the field and also enables readers to implement and experiment with genetic algorithms on their own. It focuses in depth on a small set of important and interesting topics -- particularly in machine learning, scientific modeling, and artificial life -- and reviews a broad span of research, including the work of Mitchell and her colleagues.
The descriptions of applications and modeling projects stretch beyond the strict boundaries of computer science to include dynamical systems theory, game theory, molecular biology, ecology, evolutionary biology, and population genetics, underscoring the exciting "general purpose" nature of genetic algorithms as search methods that can be employed across disciplines.
An Introduction to Genetic Algorithms is accessible to students and researchers in any scientific discipline. It includes many thought and computer exercises that build on and reinforce the reader's understanding of the text.
The first chapter introduces genetic algorithms and their terminology and describes two provocative applications in detail. The second and third chapters look at the use of genetic algorithms in machine learning (computer programs, data analysis and prediction, neural networks) and in scientific models (interactions among learning, evolution, and culture; sexual selection; ecosystems; evolutionary activity). Several approaches to the theory of genetic algorithms are discussed in depth in the fourth chapter. The fifth chapter takes up implementation, and the last chapter poses some currently unanswered questions and surveys prospects for the future of evolutionary computation.
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01 Jan 1984
TL;DR: This unified survey focuses on linear discrete-time systems and explores the natural extensions to nonlinear systems and summarizes the theoretical and practical aspects of a large class of adaptive algorithms.
Abstract: This unified survey focuses on linear discrete-time systems and explores the natural extensions to nonlinear systems. In keeping with the importance of computers to practical applications, the authors emphasize discrete-time systems. Their approach summarizes the theoretical and practical aspects of a large class of adaptive algorithms.1984 edition.
4,293 citations
"A survey on hysteresis modeling, id..." refers methods in this paper
...These relationships show the time-dependent version of the least mean square algorithm that makes it adaptive and usable in on-line parameter estimation [104]....
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...Finally, by making the inverse, the unknown parameters can be estimated as follows [104]:...
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TL;DR: A new dynamic model for friction is proposed that captures most of the friction behavior that has been observed experimentally, including the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force.
Abstract: In this paper we propose a new dynamic model for friction. The model captures most of the friction behavior that has been observed experimentally. This includes the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force. Properties of the model that are relevant to control design are investigated by analysis and simulation. New control strategies, including a friction observer, are explored, and stability results are presented. >
3,416 citations
Book•
01 Jan 2007
TL;DR: The book contains basic concepts, several applications of Genetic Algorithms and solved Genetic Problems using MATLAB software and C/C++.
Abstract: The book contains basic concepts, several applications of Genetic Algorithms and solved Genetic Problems using MATLAB software and C/C++. The salient features of the book include - detailed explanation of Genetic Algorithm concepts, - numerous Genetic Algorithm Optimization Problems, - study on various types of Genetic Algorithms, - implementation of Optimization problem using C and C++, - simulated solutions for Genetic Algorithm problems using MATLAB 7.0, - brief description on the basics of Genetic Programming, - application case studies on Genetic Algorithm on emerging fields.
1,787 citations
"A survey on hysteresis modeling, id..." refers background in this paper
...A certain amount of chromosomes are forming the population [108]....
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...Gene and chromosome in genetic algorithm [108]....
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Book•
30 Nov 1996
TL;DR: The field of mechatronics using piezoelectric and electrostrictive materials is growing rapidly with applications in many areas, including MEMS, adaptive optics, and adaptive structures as mentioned in this paper.
Abstract: The field of mechatronics using piezoelectric and electrostrictive materials is growing rapidly with applications in many areas, including MEMS, adaptive optics, and adaptive structures. Piezoelectric Actuators and Ultrasonic Motors provides in-depth coverage of the theoretical background of piezoelectric and electrostrictive actuators, practical materials, device designs, drive/control techniques, typical applications, and future trends in the field. Industry engineers and academic researchers in this field will find Piezoelectric Actuators and Ultrasonic Motors an invaluable source of pertinent scientific information, practical details, and references. In the classroom, this book may be used for graduate level courses on ceramic actuators.
1,212 citations
"A survey on hysteresis modeling, id..." refers background in this paper
...Amid the smart materials, piezoceramics, one of the most researched materials, are extensively used in widespread applications involving vibration control [1], adaptive structural shape control [2–4], structural health monitoring [5,6], structural acoustic systems [7–9], hybrid transducers and ultrasonic motors [10,11], nanopositioning stages [12,13], and more applications for the reason of high precision, high speed position control, high stiffness and fast response....
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