Abstract
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.
Highlights
Hysteresis widely exists in modern electromechanical systems, especially in the systems that contain actuators and sensors made of intelligent materials, such as precision piezoelectric positioning mechanism [1], atomic force microscopy [2], hydraulic piezoelectric valves [3], fast cutting tool servo system [4] and so on
The time delay estimation (TDE) is used to estimate the nonlinear part of the Bouc-Wen model, and an adaptive controller is designed by backstepping design method
In this paper, a new time delay feedback control strategy with hysteresis compensation is proposed for a class of secondorder electromechanical systems with Bouc-Wen hysteresis and input saturation constraint
Summary
Hysteresis widely exists in modern electromechanical systems, especially in the systems that contain actuators and sensors made of intelligent materials, such as precision piezoelectric positioning mechanism [1], atomic force microscopy [2], hydraulic piezoelectric valves [3], fast cutting tool servo system [4] and so on. The feedback compensation control method does not need to construct a hysteresis inverse but treats the nonlinear term in the hysteresis as a bounded disturbance, it will affect the control accuracy to a certain extent. Based on time delay estimation(TDE) technique [37]–[39], a novel feedback control method is proposed for a class of electromechanical systems with Bouc-Wen hysteresis and input saturation constraint. In this control method, the TDE is used to estimate the nonlinear part of the Bouc-Wen model, and an adaptive controller is designed by backstepping design method.
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