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

被引：3
作者：
Li, Zhifu [1 ,2 ,3 ]
Zeng, Junhai [1 ]
Chen, Yangquan [3 ]
Ma, Ge [1 ,2 ]
Liu, Guiyun [1 ,2 ]
机构：
[1] Guangzhou Univ, Sch Mech & Elect Engn, Guangzhou 510006, Peoples R China
[2] Guangzhou Univ, Ctr Intelligent Equipment & Internet Connected Sy, Guangzhou 510006, Peoples R China
[3] Univ Calif, Mechatron Embedded Syst & Automat Lab, Merced, CA 95343 USA
来源：
IEEE ACCESS | 2020年 / 8卷 / 08期
基金：
中国国家自然科学基金;
关键词：
Hysteresis; Adaptation models; Mathematical model; Delay effects; Computational modeling; Observers; Adaptive control; time delay control; adaptive control; backstepping; NONLINEAR FEEDBACK-CONTROL; ATTITUDE STABILIZATION; TRACKING CONTROL; LINEAR-SYSTEMS; CONTROL DESIGN; SPACECRAFT; ACTUATORS; MODEL;
D O I：
10.1109/ACCESS.2020.3026748
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
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.
引用
收藏
页码：176062 / 176072
页数：11
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