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一类含未知非线性迟滞的智能压电作动器鲁棒有限时间运动控制

余胜东 马金玉 陈大路 康升征

余胜东, 马金玉, 陈大路, 康升征. 一类含未知非线性迟滞的智能压电作动器鲁棒有限时间运动控制[J]. 机械科学与技术, 2018, 37(8): 1183-1189. doi: 10.13433/j.cnki.1003-8728.20180136
引用本文: 余胜东, 马金玉, 陈大路, 康升征. 一类含未知非线性迟滞的智能压电作动器鲁棒有限时间运动控制[J]. 机械科学与技术, 2018, 37(8): 1183-1189. doi: 10.13433/j.cnki.1003-8728.20180136
Yu Shengdong, Ma Jinyu, Chen Dalu, Kang Shengzheng. Robust Finite-time Motion Control for a Class of Smart Piezoelectric Actuators with Unknown Nonlinear Hysteresis[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(8): 1183-1189. doi: 10.13433/j.cnki.1003-8728.20180136
Citation: Yu Shengdong, Ma Jinyu, Chen Dalu, Kang Shengzheng. Robust Finite-time Motion Control for a Class of Smart Piezoelectric Actuators with Unknown Nonlinear Hysteresis[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(8): 1183-1189. doi: 10.13433/j.cnki.1003-8728.20180136

一类含未知非线性迟滞的智能压电作动器鲁棒有限时间运动控制

doi: 10.13433/j.cnki.1003-8728.20180136
基金项目: 

浙江省科技计划项目(2017C31117)、温州市科技计划项目(G20160004)及大学生科技创新项目(2016R456002)资助

详细信息
    作者简介:

    余胜东(1984-),博士研究生,研究方向为机械电子,626353013@qq.com

    通讯作者:

    陈大路,教授,891069220@qq.com

Robust Finite-time Motion Control for a Class of Smart Piezoelectric Actuators with Unknown Nonlinear Hysteresis

  • 摘要: 针对一类存在外界扰动、迟滞等时变不确定、非线性的压电作动器系统,提出了一种新的鲁棒控制策略。该控制器在快速非奇异终端滑模控制的基础上,引入时延估计技术,实现在线估计并补偿系统时变不确定量,而无需系统模型。采用鲁棒精密微分器实时估计速度及加速度信息,克服了实际中只有位移信号可测的不足。相比传统时延控制,所提的控制律采用非线性滑模面,保证跟踪误差能够有限时间收敛。最后利用Lyapunov函数证明了系统的稳定性。理论分析及仿真结果表明,所提控制策略能够满足微/纳定位应用中的高精度鲁棒跟踪性能要求。
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出版历程
  • 收稿日期:  2017-11-13
  • 刊出日期:  2018-08-05

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