Journal Article

Inverse error analysis and adaptive output feedback control of uncertain systems preceded with hysteresis actuators

Liu, Sining, Su, Chun-Yi

2014

Overview

The development of control approaches for systems preceded with hysteresis non-linearities has received great attentions in recent decades. The most common approach is the construction of an inverse model as the compensator to mitigate hysteresis effects. However, most of the developed schemes are state-based, requiring the availability of states of systems, which may not be the case for some practical systems. In this study, output control with inverse compensation will be addressed. By using the inverse as a feedforward compensator for the model described by the modified generalised Prandtl–Ishlinskii model, an corresponding analytical expression of the inverse compensation error is first obtained. Then, an observer-based robust adaptive output feedback controller is developed. It is shown that the proposed output feedback control scheme can not only guarantee the stability of the control systems, but also can achieve the desired tracking accuracy.

• Publisher: The Institution of Engineering and Technology
• Subject: actuators / adaptive control / analytical expression / Compensation / Compensators / control nonlinearities / control system stability / control system synthesis / Control systems / Control theory / error analysis / feedback / feedforward / feedforward compensator / Hysteresis / hysteresis actuators / hysteresis effect mitigation / hysteresis nonlinearities / Inverse / inverse compensation error analysis / Mathematical models / modified generalised Prandtl‐Ishlinskii model / observers / observer‐based robust adaptive output feedback controller development / output control / Output feedback / robust control / tracking accuracy / uncertain systems