控制理论(社会学)
非线性系统
执行机构
职位(财务)
磁滞
观察员(物理)
计算
控制器(灌溉)
鲁棒控制
稳健性(进化)
计算机科学
控制工程
工程类
控制(管理)
物理
人工智能
算法
农学
基因
经济
生物
化学
量子力学
生物化学
财务
作者
Gerardo Flores,Micky Rakotondrabe
出处
期刊:IEEE Control Systems Letters
日期:2022-01-01
卷期号:6: 872-877
被引量:19
标识
DOI:10.1109/lcsys.2021.3087102
摘要
A robust nonlinear control based only on position measurements to compensate for the strong hysteresis nonlinearity in a piezoelectrically actuated robotic hand is proposed. Based on a high-gain observer to estimate the hysteresis response and nonlinear control law, locally exponential stable results are obtained. The observer and controller are arranged to conform to an output-feedback scheme, which is simple to implement and does not require additional computation as soon as the model parameters are identified and known. The proposed control technique is valuable for hysteresis that is modeled with the classical Bouc-Wen model. The results provide a closed-loop system that is robust under external disturbances in all the system states. Simulations show the effectiveness of the approach.
科研通智能强力驱动
Strongly Powered by AbleSci AI