title: Intelligent compensation of friction, ripple, and hysteresis via a regulated chatter.
abstract: In this paper, a hybrid control scheme utilizing a PID feedback control with an additional regulated chatter signal is developed to compensate motion impeding influences such as the effects due to friction, force ripples, and hysteresis in linear piezoelectric motor. The regulated chatter signal is a pulse sequence superimposed on the PID control signal. It has a fixed amplitude, and a pulse width regulated via iterative learning control. As such, the scheme is expected to be useful for applications involving iterative motion sequences. An analysis of the closed-loop performance is presented in the paper. Simulation and experimental results are also furnished to demonstrate that the proposed control scheme can reduce tracking errors significantly.
authors.affiliation: Department of Electrical and Computer Engineering, National University of Singapore.
authors.forename: S
authors.initials: S
authors.lastname: Zhao
authors.forename: A S
authors.initials: AS
authors.lastname: Putra
authors.forename: K K
authors.initials: KK
authors.lastname: Tan
authors.forename: S K
authors.initials: SK
authors.lastname: Panda
authors.forename: T H
authors.initials: TH
authors.lastname: Lee
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D003198:Computer Simulation; D008962:Models, Theoretical; D017711:Nonlinear Dynamics; D009991:Oscillometry / Q000379:methods*; D013598:Systems Theory; D014159:Transducers