Rate Dependent Krasnoselskii-Pokrovskii Modeling and Inverse Compensation Control of Piezoceramic Actuated Stages

Design, Modeling and Dynamic Compensation PID Control of a Fully-Actuated Aerial Manipulation System

This paper addresses design, modeling and dynamic-compensation PID (dc-PID) control of a novel type of fully-actuated aerial manipulation (AM) system. Firstly, design of novel mechanical structure of the AM is presented. Secondly, kinematics and dynamics of AM are modeled using Craig parameters and recursion Newton-Euler equations respectively, which give rise to a more accurate dynamic relatio...

Modeling and Compensation of Rate-Dependent Asymmetric Hysteresis Nonlinearities of Magnetostrictive Actuators

Omar Farhan Aljanaideh Concordia University, 2013 Smart material actuators are increasingly being explored for various micropositioning applications. Magnetostrictive actuators, in particular, are considered attractive for micro/nano positioning and high speed precision machining due to their high energy density, resolution and force capacity. The magnetostrictive actuators, similar to other sm...

Optimal Control of Piezoceramic Actuators

This paper presents the first results of an optimal control approach to piezoceramic actuators. A one-dimensional free energy model for piezoceramics recently proposed by Smith and Seelecke is briefly reviewed first. It is capable of predicting the hysteretic behavior along with the frequency-dependence present in these materials. The model is implemented into an optimal control package, and tw...

Modeling, Simulation and Control of Redundantly Actuated Parallel Manipulators

Control of Hysteretic Systems Through Inverse Compensation RAM

n an 1881 study of ferromagnetism [37], James A. Ewing coined the term hysteresis, which means “to lag behind” in Greek. In Figure 1, which is reproduced from [1], the horizontal axis is the magnitude of the average magnetic field H in a soft-iron ring, while the vertical axis is the magnitude of the average magnetic flux density B. The plot was obtained by varying the magnetic field in a quasi...