控制理论(社会学)
李雅普诺夫函数
有界函数
非线性系统
观察员(物理)
计算机科学
执行机构
控制器(灌溉)
磁滞
跟踪误差
数学
控制(管理)
人工智能
物理
数学分析
量子力学
农学
生物
作者
Gerardo Flores,Micky Rakotondrabe
出处
期刊:IEEE Control Systems Letters
日期:2023-01-01
卷期号:7: 2413-2418
被引量:1
标识
DOI:10.1109/lcsys.2023.3287142
摘要
This letter focuses on the modeling and control of a piezoelectric actuator that is designed to manipulate objects. This research considers both the non-linearity caused by the hysteresis of the actuator and the deformation of the object being manipulated. To approximate the hysteresis, a classical Bouc-Wen model is used. To stabilize the force-tracking error, we propose a novel control approach combining three advanced methodologies: an output-feedback method based on a nonlinear observer, a Barrier-Lyapunov function design, and bounded control based on saturation functions. Combining these three powerful techniques produces a bounded and highly robust controller that can effectively reject aggressive disturbances while maintaining the tracking error inside a predefined set. Under such a scenario, it is demonstrated that the equilibrium point of the closed-loop system is asymptotically stable. The effectiveness of the proposed control method is validated through extensive numerical simulations.
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