Multivariable Generalized Bouc-Wen modeling, identification and feedforward control and its application to multi-DoF piezoelectric actuators.

Didace Habineza (1) , Micky Rakotondrabe (1) , Yann Gorrec (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

In the literature, the generalized Bouc-Wen model can track precisely asymmetric hysteresis nonlinearity. In this paper, we propose to extend this generalized model to multivariable hysteresis model that can track the nonlinearities in multi-degrees of freedom (multi-DoF) hysteretic actuated systems. In particular, these systems are typified by strong hysteresis couplings. Then, a method of identification of the multivariable hysteresis model is proposed. Finally, based on the inverse multiplicative structure, we propose a multivariable feedforward compensator of the nonlinearity. The proposed approach has been applied to a multi-DoF piezoelectric tube (piezotube) used in scanning probe microscopy and the experimental verification demonstrated its validity in terms of model precision and compensation efficiency. Feedforward Control, Multi-Degrees of Freedom Systems, Asymmetric Hysteresis, Couplings, Generalized Bouc-Wen Model.

Domaines: Automatique / Robotique

Didace Habineza, Micky Rakotondrabe, Yann Gorrec. Multivariable Generalized Bouc-Wen modeling, identification and feedforward control and its application to multi-DoF piezoelectric actuators.. The 19th World Congress of the International Federation of Automatic Control. IFAC'14, 2014, Cape Town, South Africa. pp.10952-10958. ⟨hal-01324728⟩