Feed-Forward Controlling of Servo-Hydraulic Actuators Utilizing a Least-Squares Support-Vector Machine
Feed-forward control of hysteretic systems is a challenging task due to the hysteresis nonlinearity. Hysteresis models are utilized not only for identification, but also for hysteresis control. The feed-forward control, which is not an error-based (feedback-based) algorithm, plays a significant role...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-02-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/9/1/11 |
| _version_ | 1811331002258161664 |
|---|---|
| author | Amir Hossein Sharghi Reza Karami Mohammadi Mojtaba Farrokh Sina Zolfagharysaravi |
| author_facet | Amir Hossein Sharghi Reza Karami Mohammadi Mojtaba Farrokh Sina Zolfagharysaravi |
| author_sort | Amir Hossein Sharghi |
| collection | DOAJ |
| description | Feed-forward control of hysteretic systems is a challenging task due to the hysteresis nonlinearity. Hysteresis models are utilized not only for identification, but also for hysteresis control. The feed-forward control, which is not an error-based (feedback-based) algorithm, plays a significant role in hysteresis control problems. Instead, it works based on knowledge about the process in the form of a mathematical model of the process. In feed-forward control problems, it is important to identify the inverse relationship of the output and input of the system, i.e., determining the mapping of the output and input of the system plays a key role in feed-forward controlling. This paper presents a new feed-forward controller model to control an actuator in a laboratory to tackle the restrictions of feedback control systems. For this purpose, first, a numerical model of a Proportional-Integral-Derivative (PID)-controlled actuator was created, and sets of numerical data of inputs and outputs of the plant were generated. Then, a least-squares support-vector machine (LS-SVM) hysteresis model was trained inversely on the generated data sets of the numerical modeling. Afterwards, to examine the efficacy of the proposed method for real-world hydraulic actuators in the presence of experimental errors and noise, sets of experimental data were obtained from physical modeling at KNTU’s Structural and Earthquake Engineering Laboratory (KSEEL). The results indicate the high performance of the proposed model. |
| first_indexed | 2024-04-13T16:12:16Z |
| format | Article |
| id | doaj.art-e0202907983c4284ba9672fac8056358 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-04-13T16:12:16Z |
| publishDate | 2020-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-e0202907983c4284ba9672fac80563582022-12-22T02:40:12ZengMDPI AGActuators2076-08252020-02-01911110.3390/act9010011act9010011Feed-Forward Controlling of Servo-Hydraulic Actuators Utilizing a Least-Squares Support-Vector MachineAmir Hossein Sharghi0Reza Karami Mohammadi1Mojtaba Farrokh2Sina Zolfagharysaravi3Hybrid Simulation Laboratory, Faculty of Civil Engineering, K. N. Toosi University of Technology, Tehran 1996715433, IranHybrid Simulation Laboratory, Faculty of Civil Engineering, K. N. Toosi University of Technology, Tehran 1996715433, IranAdvanced Structures Research Laboratory, Faculty of Aerospace Engineering, K. N. Toosi University of Technology, Tehran 1656983911, IranStructural and Earthquake Engineering Laboratory, Faculty of Civil Engineering, K. N. Toosi University of Technology, Tehran 1996715433, IranFeed-forward control of hysteretic systems is a challenging task due to the hysteresis nonlinearity. Hysteresis models are utilized not only for identification, but also for hysteresis control. The feed-forward control, which is not an error-based (feedback-based) algorithm, plays a significant role in hysteresis control problems. Instead, it works based on knowledge about the process in the form of a mathematical model of the process. In feed-forward control problems, it is important to identify the inverse relationship of the output and input of the system, i.e., determining the mapping of the output and input of the system plays a key role in feed-forward controlling. This paper presents a new feed-forward controller model to control an actuator in a laboratory to tackle the restrictions of feedback control systems. For this purpose, first, a numerical model of a Proportional-Integral-Derivative (PID)-controlled actuator was created, and sets of numerical data of inputs and outputs of the plant were generated. Then, a least-squares support-vector machine (LS-SVM) hysteresis model was trained inversely on the generated data sets of the numerical modeling. Afterwards, to examine the efficacy of the proposed method for real-world hydraulic actuators in the presence of experimental errors and noise, sets of experimental data were obtained from physical modeling at KNTU’s Structural and Earthquake Engineering Laboratory (KSEEL). The results indicate the high performance of the proposed model.https://www.mdpi.com/2076-0825/9/1/11servo-hydraulic actuatorsfeed-forward controllingleast-squares support-vector machine (ls-svm)hysteresis modeling |
| spellingShingle | Amir Hossein Sharghi Reza Karami Mohammadi Mojtaba Farrokh Sina Zolfagharysaravi Feed-Forward Controlling of Servo-Hydraulic Actuators Utilizing a Least-Squares Support-Vector Machine Actuators servo-hydraulic actuators feed-forward controlling least-squares support-vector machine (ls-svm) hysteresis modeling |
| title | Feed-Forward Controlling of Servo-Hydraulic Actuators Utilizing a Least-Squares Support-Vector Machine |
| title_full | Feed-Forward Controlling of Servo-Hydraulic Actuators Utilizing a Least-Squares Support-Vector Machine |
| title_fullStr | Feed-Forward Controlling of Servo-Hydraulic Actuators Utilizing a Least-Squares Support-Vector Machine |
| title_full_unstemmed | Feed-Forward Controlling of Servo-Hydraulic Actuators Utilizing a Least-Squares Support-Vector Machine |
| title_short | Feed-Forward Controlling of Servo-Hydraulic Actuators Utilizing a Least-Squares Support-Vector Machine |
| title_sort | feed forward controlling of servo hydraulic actuators utilizing a least squares support vector machine |
| topic | servo-hydraulic actuators feed-forward controlling least-squares support-vector machine (ls-svm) hysteresis modeling |
| url | https://www.mdpi.com/2076-0825/9/1/11 |
| work_keys_str_mv | AT amirhosseinsharghi feedforwardcontrollingofservohydraulicactuatorsutilizingaleastsquaressupportvectormachine AT rezakaramimohammadi feedforwardcontrollingofservohydraulicactuatorsutilizingaleastsquaressupportvectormachine AT mojtabafarrokh feedforwardcontrollingofservohydraulicactuatorsutilizingaleastsquaressupportvectormachine AT sinazolfagharysaravi feedforwardcontrollingofservohydraulicactuatorsutilizingaleastsquaressupportvectormachine |