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A neural network-based model predictive controller for displacement tracking of piezoelectric actuator with feedback delays

文献类型：期刊论文

作者Du, Zhangming1,3; Zhou, Chao3; Cao, Zhiqiang3; Wang, Shuo2,3; Cheng, Long3; Tan, Min3
刊名INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
出版日期2021-11-01
卷号18期号:6页码:11
关键词Piezoelectric actuator neural network displacement tracking model predictive control
ISSN号1729-8814
DOI10.1177/17298814211057698
通讯作者Zhou, Chao(chao.zhou@ia.ac.cn)
英文摘要Piezoelectric actuators are widely used in micro/nanoscale robotic manipulators. Due to its hysteresis and dynamic-related nonlinearity, accurate displacement tracking control of piezoelectric actuator is challenging. Besides, in some low-cost practical systems with low sampling rate, transmission delay causes mismatches between feedback and real displacement, further increasing the challenge in tracking control. In this article, a neural network-based model predictive controller (MPC) is proposed for precise tracking control of piezoelectric actuator's displacement in situation where feedback is slow and delayed. The prediction model is based on a nonlinear-autoregressive-moving-average-with-exogenous-inputs framework, which outputs entire prediction horizon of future displacement in a single time, and is fulfilled by a multilayer feedforward neural network. An extended Kalman filter-based estimation for displacement is introduced to relieve the influence of feedback delays so as to improve dynamic performance of the controller. Another neural network is trained to provide initial values for MPC to reduce computation costs and improve performance in dynamic tracking. In a series of tracking experiments, the effectiveness of proposed controller is verified.
WOS关键词HYSTERESIS COMPENSATION ; FEEDFORWARD ; SYSTEMS ; INVERSION
资助项目National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[62033013] ; Strategic Priority Research Program of Chinese Academy of Sciences[XDB32050100]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000727305700001
出版者SAGE PUBLICATIONS INC
资助机构National Natural Science Foundation of China ; Strategic Priority Research Program of Chinese Academy of Sciences
源URL[http://ir.ia.ac.cn/handle/173211/46554]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
复杂系统管理与控制国家重点实验室_水下机器人
通讯作者Zhou, Chao
作者单位1.Univ Chinese Acad Sci, Beijing, Peoples R China
2.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai, Peoples R China
3.Chinese Acad Sci, Inst Automat, 95 Zhongguancun East Rd,POB 2728, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Du, Zhangming,Zhou, Chao,Cao, Zhiqiang,et al. A neural network-based model predictive controller for displacement tracking of piezoelectric actuator with feedback delays[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2021,18(6):11.
APA Du, Zhangming,Zhou, Chao,Cao, Zhiqiang,Wang, Shuo,Cheng, Long,&Tan, Min.(2021).A neural network-based model predictive controller for displacement tracking of piezoelectric actuator with feedback delays.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,18(6),11.
MLA Du, Zhangming,et al."A neural network-based model predictive controller for displacement tracking of piezoelectric actuator with feedback delays".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 18.6(2021):11.

入库方式： OAI收割

来源：自动化研究所

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