控制理论(社会学)
扰动(地质)
压电
纳米-
鲁棒控制
观察员(物理)
操纵器(设备)
控制工程
计算机科学
控制系统
控制(管理)
工程类
物理
机器人
地质学
人工智能
古生物学
量子力学
化学工程
电气工程
作者
Yangming Zhang,Peng Yan
标识
DOI:10.1016/j.sna.2023.114951
摘要
This article investigates the robust and optimal control problem of hysteretic systems with both parameter variations and unmodeled dynamics. By means of a hysteresis compensator based on a modified Prandtl–Ishlinskii model and a feedback controller, a novel robust optimal control architecture is proposed to address the asymmetric and rate-dependent hysteresis nonlinearities and various disturbances, where the compensation errors, parameter variations, and unmodeled dynamics are treated as a bounded disturbance. The proposed controller is composed of two components: a high order sliding mode observer and an extended linear quadratic controller. The high order sliding mode observer is introduced to guarantee that the disturbance observation error converges to the origin in a finite time such that the extended linear quadratic controller enables the predefined optimal performance to be achieved. Moreover, the exponential stability of the closed-loop system has been proven, and some sufficient conditions are given. Finally, the proposed control algorithm is applied to a piezoelectric nano-manipulator system, both the good hysteresis modeling accuracy and excellent tracking performance are demonstrated in the real-time experiments.
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