Adaptive Control of a Piezo-Positioning Mechanism With Hysteresis and Input Saturation Using Time Delay Estimation

IEEE Access

卷:8

Yangquan Chen¹  Junhai Zeng²  Zhifu Li²  Ge Ma²  Guiyun Liu² 

[1] Mechatronics, Embedded Systems and Automation Laboratory, University of California, Merced, CA, USA;

[2] School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China;

关键词: Hysteresis;    time delay control;    adaptive control;    backstepping;   

DOI  :  10.1109/ACCESS.2020.3026748

来源: DOAJ

【 摘 要 】

In this paper, based on backstepping technique and time delay estimation (TDE) technique, an adaptive time delay compensation control scheme is developed for a class of piezoelectric positioning mechanical systems with Bouc-Wen hysteresis and input saturation constraint. The nonlinear part of the Bouc-Wen model is estimated online by TDE, and the TDE error introduced by TDE is compensated online by an adaptive law. Furthermore, an auxiliary variable system is used to deal with the input saturation constraint. Based on the Lyapunov method, the stability of the closed-loop system is analyzed and proved. Two simulation examples are given to demonstrate the effectiveness of the proposed control scheme.

【 授权许可】

Unknown