控制理论(社会学)
反向
水准点(测量)
磁滞
控制器(灌溉)
执行机构
逆动力学
计算机科学
运动控制
补偿(心理学)
控制(管理)
数学
物理
人工智能
机器人
几何学
生物
经典力学
量子力学
运动学
心理学
地理
大地测量学
精神分析
农学
作者
Xiuyu Zhang,Fu Guo,Hongzhi Xu,Zhi Li,Feng Shu,Xinkai Chen
标识
DOI:10.1088/1361-665x/ac8384
摘要
Abstract In this paper, we propose a neural network approximator-based proportional-derivative pseudo-inverse control scheme. The purpose is to precisely control a motion control platform actuated by a dielectric elastomer actuator (DEA). Our main contributions are as follows: (1) a new butterfly asymmetric shift Prandtl–Ishlinskii (BASPI) model that can describe the butterfly hysteresis behavior in a DEA; (2) the butterfly hysteresis pseudo-inverse compensation algorithm to effectively mitigate the butterfly hysteresis, instead of the explicit butterfly hysteresis inverse compensator. The algorithm searches for the practical control signal from the hysteresis temporary controller; (3) a DEA motion control platform is constructed. Finally, we conducted the open-loop and closed-loop experiments to verify the effectiveness of the proposed BASPI model and the proposed control scheme.
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