Complete Open Loop Control of Hysteretic, Creeped, and Oscillating Piezoelectric Cantilevers

Rakotondrabe, Micky; Clevy, Cédric; Lutz, Philippe

doi:10.1109/tase.2009.2028617

Cited by 175 publications

(100 citation statements)

References 26 publications

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“…Following the procedure in [16], the identification of the parameters r i and w i is performed by applying a sine or a triangular input voltage u(t) with an amplitude u A to the process. This amplitude corresponds to the maximal output of y that is expected for the applications.…”

Section: Parameters Identificationmentioning

confidence: 99%

“…In an automatic point of view, feedforward voltage control is particularly appreciated because this approach allows stability, performance analysis and controllers synthesis. For piezoactuators, there exist several approaches of hysteresis compensation based on voltage control: the Bouc-Wen [11], the polynomial [12], the lookup tables [13], the Preisach [14][15] and the classical PrandtlIshlinskii approaches [16][17] [18]. The Prandtl-Ishlinskii approach is particularly appreciated for its simplicity, ease of implementation and accuracy.…”

Section: Introductionmentioning

confidence: 99%

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Classical Prandtl-Ishlinskii modeling and inverse multiplicative structure to compensate hysteresis in piezoactuators

Rakotondrabe

2012

2012 American Control Conference (ACC)

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To cite this version:Micky Rakotondrabe. Classical Prandtl-Ishlinskii modeling and inverse multiplicative structure to compensate hysteresis in piezoactuators.. American Control Conference, ACC'12., Jun 2012, Montréal, Canada. pp.1646-1651 Classical Prandtl-Ishlinskii modeling and inverse multiplicative structure to compensate hysteresis in piezoactuatorsAbstract-This paper presents a new approach to compensate the static hysteresis in smart material based actuators that is modeled by the PrandtlIshlinskii approach. The proposed approach allows a simplicity and ease of implementation. Furthermore, as soon as the direct model is identified and obtained, the compensator is directly derived. The experimental results on piezoactuators show its efficiency and prove its interest for the precise control of microactuators without the use of sensors. In particular, we experimentally show that the hysteresis of the studied actuator which was initially 23% was reduced to less than 2.5% for the considered working frequency.

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Section: Parameters Identificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Classical Prandtl-Ishlinskii modeling and inverse multiplicative structure to compensate hysteresis in piezoactuators

Rakotondrabe

2012

2012 American Control Conference (ACC)

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“…In addition, techniques such as input shaping can be utilized to mitigate vibration 121 . However, the accuracy of feedforward techniques is dependent on both the model and the parameters identified in the model, which can change over time, especially in dynamic scenarios and the vacuum environment inside an SEM 122 . Feedback control utilizes sensor feedback, relaxes modeling requirements, and achieves better performance in terms of accuracy, vibration suppression, and uncertainty/disturbance rejection 61 .…”

Section: Controlmentioning

confidence: 99%

Recent advances in nanorobotic manipulation inside scanning electron microscopes

et al. 2016

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A scanning electron microscope (SEM) provides real-time imaging with nanometer resolution and a large scanning area, which enables the development and integration of robotic nanomanipulation systems inside a vacuum chamber to realize simultaneous imaging and direct interactions with nanoscaled samples. Emerging techniques for nanorobotic manipulation during SEM imaging enable the characterization of nanomaterials and nanostructures and the prototyping/assembly of nanodevices. This paper presents a comprehensive survey of recent advances in nanorobotic manipulation, including the development of nanomanipulation platforms, tools, changeable toolboxes, sensing units, control strategies, electron beam-induced deposition approaches, automation techniques, and nanomanipulation-enabled applications and discoveries. The limitations of the existing technologies and prospects for new technologies are also discussed.

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“…There are several approaches used for Γ (u(s)) in PEA, for instance: the Prandtl-Ishlinskii approach [5][6][7]20,21], the Preisach approach [22][23][24], the Bouc-Wen approach [25][26][27][28], the quadrilateral and multilinear approach [6][7][8]11,29]. It is noteworthy that the nonlinear model in Equations (4) and (5) come down to a linear model when the hysteresis and the creep are negligible.…”

Section: Pea Nonlinear Modelingmentioning

confidence: 99%

“…Many studies have been carried out regarding voltage control of hysteresis [16][17][18][19][20]24,25,27,28], creep [9], and of underdamped vibrations [35,36] in PEA, or their control simultaneously [10,21]. The main limitation of feed-forward control is the restricted robustness to model uncertainties and external disturbances.…”

Section: Pea Controlmentioning

confidence: 99%

Getting Started with PEAs-Based Flapping-Wing Mechanisms for Micro Aerial Systems

et al. 2016

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This paper introduces recent advances on flapping-wing Micro and Nano Aerial Vehicles (MAVs and NAVs) based on Piezoelectric Actuators (PEA). Therefore, this work provides essential information to address the development of such bio-inspired aerial robots. PEA are commonly used in micro-robotics and precise positioning applications (e.g., micro-positioning and micro-manipulation), whereas within the Unmanned Aerial Vehicles (UAVs) domain, motors are the classical actuators used for rotary or fixed-wing configurations. Therefore, we consider it pertinent to provide essential information regarding the modeling and control of piezoelectric cantilever actuators to accelerate early design and development stages of aerial microrobots based on flapping-wing systems. In addition, the equations describing the aerodynamic behavior of a flapping-wing configuration are presented.

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Complete Open Loop Control of Hysteretic, Creeped, and Oscillating Piezoelectric Cantilevers

Cited by 175 publications

References 26 publications

Classical Prandtl-Ishlinskii modeling and inverse multiplicative structure to compensate hysteresis in piezoactuators

Classical Prandtl-Ishlinskii modeling and inverse multiplicative structure to compensate hysteresis in piezoactuators

Recent advances in nanorobotic manipulation inside scanning electron microscopes

Getting Started with PEAs-Based Flapping-Wing Mechanisms for Micro Aerial Systems

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