ELM-based parallel compensation control for perturbed plants with hysteresis using robust right coprime factorization

Author

Jiang, Changan ; Deng, Mingcong

Author_Institution

RIKEN-TRI Collaboration Center for Human-Interactive Robot Res., RIKEN(The Inst. of Phys. & Chem. Res.), Nagoya, Japan

fYear

2012

Firstpage

1

Lastpage

5

Abstract

In this paper, for compensating the effect of hysteretic nonlinearity which precedes perturbed plants, an Extreme Learning Machine (ELM) based parallel compensator is designed by using properties between play and stop hysteresis operators. Based on the compensated perturbed plants, operator-based feedback controllers and tracking controllers are designed to guarantee the output tracking performance by using robust right coprime factorization. Finally, the numerical simulation results are presented to validate the effectiveness of the proposed method.

Keywords

compensation; control nonlinearities; control system synthesis; feedback; intelligent actuators; learning (artificial intelligence); matrix decomposition; numerical analysis; tracking; ELM-based parallel compensation control; compensated perturbed plants; extreme learning machine; hysteretic nonlinearity; numerical simulation; operator-based feedback controller design; output tracking performance; play hysteresis operators; robust right coprime factorization; smart material-based actuators; stop hysteresis operators; tracking controller design; Computational modeling; Hysteresis;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Mechatronic Systems (ICAMechS), 2012 International Conference on

Conference_Location

Tokyo

ISSN

1756-8412

Print_ISBN

978-1-4673-1962-1

Type

conf

Filename

6329671