结合误差变换的Bouc-Wen迟滞非线性系统反步控制器设计

针对智能材料执行器中非平滑、多映射的迟滞非线性,采用Bouc-Wen模型描述迟滞,并提出了一种基于误差变换的反步控制器设计方案.首先利用Bouc-Wen模型中的变量特性,通过预设性能函数,将误差约束在预设范围内.然后通过误差变换,将一个对输出误差存在约束的跟踪问题转化为一个无约束的镇定问题.最后利用反步控制法设计迟滞系统的控制器,该控制方法保证期望的跟踪精度,并能将误差限定在设定范围内且满足预设性能,提高了系统的暂态和稳态性能.仿真结果表明设计方法的有效性.

Backstepping control with error transformation for Bouc-Wen hysteresis nonlinear system

The Bouc-Wen model is employed to describe hysteresis phenomenon which is non-smooth and multi-valued mapping in smart-material-based actuators. A backstepping controller combining with error transformation is proposed for a class of hysteresis systems. First, the prescribed performance function is used to confine the error to residual set with variable property in Bouc-Wen model explored. Then the output error transformation is introduced to transform the original constrained system into an equivalent unconstrained one. Finally, a backstepping controller is designed for the hysteresis systems. This control scheme can track the desired output effectively, guarantee the prescribed performance and improve the transient and steady state of the system. The simulation results illustrate the effectiveness of the proposed method.