3 accepted papers
This letter introduces a dynamic observer in order to estimate the displacement in a 2-DOF piezoelectric actuator (piezoactuator) devoted to precise positioning and equipped with static self-measurement circuit. Then, the estimated displacement derived by the suggested observer is used as feedback f
Beside the output-input hysteresis, the longitudinally loaded cables of medical robotics such as RAVEN II exhibit asymmetric saturated strain-load hysteresis loops. This study investigates modeling the hysteresis nonlinearities of these cables using a stop-operator based Prandtl-Ishlinskii (SPI) mod…
A new methodology that employs the rate-dependent Prandtl-Ishlinskii model (RDPI) as a model and a compensator is suggested in this study for modeling and compensation of rate-dependent hysteresis nonlinearities of a piezoelectric actuator. The technique employs a restructuration of the model that i…