Abstract
The piezoelectric actuator is indispensable for driving the micro-manipulator. In this paper, a simplified interval type-2 (IT2) fuzzy system is proposed for hysteresis modelling and feedforward control of a piezoelectric actuator. The partial derivative of the output of IT2 fuzzy system with respect to the modelling parameters can be analytically computed with the antecedent part of IT2 fuzzy rule specifically designed. In the experiments, gradient based optimization was used to identify the IT2 fuzzy hysteresis model. Results showed that the maximum error of model identification is 0.42% with only 3 developed IT2 fuzzy rules. Moreover, the model validation was conducted to demonstrate the generalization performance of the identified model. Based on the analytic inverse of the developed model, feedforward control experiment for tracking sinusoidal trajectory of 20 Hz was carried out. As a result, the hysteresis effect of the piezoelectric actuator was reduced with the maximum tracking error being 4.6%. Experimental results indicated an improved performance of the proposed IT2 fuzzy system for hysteresis modelling and feedforward control of the piezoelectric actuator.
Highlights
Smart material based actuators are new types of actuators different from the traditional electromagnetic actuators
P1i, · · ·, pil, · · ·, piL denotes all the modelling parameters of the interval type-2 (IT2) fuzzy system to be optimized in the ith iteration and γi > 0 is called the step size which is allowed to change at every iteration
2.53 GHz dual-Core CPU, 16 bits A/D and 16 bits D/A converter I/O boards. It is used for high-speed measurement of the displacement and rapid control prototyping for feedforward control of the piezoelectric actuator
Summary
Smart material based actuators are new types of actuators different from the traditional electromagnetic actuators. IT2 fuzzy system has more freedom of flexibility to describe the complex phenomenon than traditional type-1 fuzzy system, that makes it capable of modelling the nonlinear system more precisely. It has been applied in nonlinear modelling and automatic control in various studies [29,30,31,32,33,34]. An IT2 fuzzy system with an analytic inverse was designed, and applied to hysteresis modelling and feedforward control of the stacked piezoelectric actuator with practical experiments. The remaining organization of this paper is as follows: in Section 2 the simplified IT2 fuzzy system is developed, Section 3 includes the experimental results, and Section 4 concludes the paper
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
