Title :
Model-based L1 adaptive control of hysteresis in smart materials
Author :
Fan, Xiang ; Smith, Ralph
Author_Institution :
Dept. of Math., North Carolina State Univ., Raleigh, NC, USA
Abstract :
Undesired hysteresis and constitutive nonlinearities are present to varying degrees in all smart material based transducers when they are driven at high levels. This motivates the development of adaptive inverse compensation techniques that can approximately linearize the transducer response and also are sufficiently efficient to accommodate model uncertainties and the error introduced by inexact inverse algorithms. In this paper, we employ the homogenized energy model for describing hysteresis, and we incorporate the corresponding inverse filter in L1 control design to develop a robust adaptive inverse control approach. Asymptotic tracking properties of the proposed algorithm are established, and for periodic reference trajectories, the parameter convergence behavior is characterized. Simulation results are provided to illustrate the effectiveness of the proposed algorithm.
Keywords :
adaptive control; compensation; control system synthesis; filtering theory; hysteresis; intelligent materials; robust control; adaptive inverse compensation techniques; asymptotic tracking property; constitutive nonlinearities; control design; homogenized energy model; hysteresis; inexact inverse algorithms; inverse filter; model uncertainty; model-based adaptive control; parameter convergence behavior; periodic reference trajectory; robust adaptive inverse control approach; smart materials; transducer response; Adaptive control; Adaptive filters; Control design; Hysteresis; Linear approximation; Programmable control; Robust control; Trajectory; Transducers; Uncertainty; Robust adaptive control; hysteresis model; inverse filter;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4739393