University of Twente Student Theses


Model-Based hysteresis compensation and control with 3D printed lousy sensors

Kosmas, Dimitrios (2020) Model-Based hysteresis compensation and control with 3D printed lousy sensors.

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Abstract:With the recent advances in Additive-Manufacturing the possibility to use embodied 3D printed sensors emerged, and with it the potential to incorporate said sensors in a variety of applications of interest such as soft-robots and biomedical devices, among others. Albeit, due to the polymers involved these sensors have shown to exhibit drift in the response as well as hysteresis and creep. This work focuses on the compensation of the hysteretic nonlinearity of a 3D-printed strain-gauge by means of modelling. The non-linear differential based Power-Law model is described, analyzed, and digitally implemented. A differential strain-gauge is fabricated, experimental data are gathered as means to evaluate the model and derive the so-called compensator. Additional insight on how this compensation method can be adapted in basic control schemes is then investigated by means of simulation and finally a discussion follows based on the results.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:31 mathematics, 50 technical science in general
Programme:Systems and Control MSc (60359)
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