Title: Operator-based parallel compensation control for hysteresis using ELM-based PI model

Authors: Changan Jiang; Mingcong Deng; Yoshikazu Hayakawa

Addresses: RIKEN-TRI Collaboration Centre for Human-Interactive Robot Research, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya, 463-0003, Japan ' Department of Electrical and Electronic Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan ' Department of Mechanical Science and Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan

Abstract: In order to describe the hysteresis, play-type Prandtl-Ishlinskii (PI) hysteresis model is applied in this paper. For compensating the effect of hysteresis which precedes plants, an extreme learning machine (ELM)-based parallel compensator is designed by using properties between play and stop hysteresis operators. Based on the compensated plants, according to operator-based right coprime factorisation, 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.

Keywords: parallel compensation control; hysteresis; extreme learning machine; ELM; stop-type PI model; Prandtl-Ishlinskii; parallel compensator design; operator-based right coprime factorisation; feedback control; tracking control; controller design; tracking performance; numerical simulation.

DOI: 10.1504/IJAMECHS.2012.052223

International Journal of Advanced Mechatronic Systems, 2012 Vol.4 No.5/6, pp.280 - 286

Published online: 30 Aug 2014 *

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