Adaptive output feedback inverse control method for piezoelectric precision position platform

Abstract

The invention discloses an adaptive output feedback inverse control method for a piezoelectric precision position platform. An adaptive output feedback inverse control scheme based on a neural network can be achieved and is firstly designed according to nonlinear hysteresis systems. The inverse control method is characterized by including the steps: estimating states of a system by a designed high-gain state observer, and processing uncertain items in system and environment disturbance; testing on the piezoelectric precision position platform through the control scheme; adjusting the state observer and the initial conditions of adaptive laws of unknown parameters to achieve arbitrarily small L norms of following errors. The piezoelectric precision position platform is a three-level system, has system output and can be measured.

Description

technical field [0001] The invention belongs to the field of precision machining and manufacturing, and relates to an adaptive output feedback inverse control method of a piezoelectric precision position platform. Background technique [0002] In the prior art, actuators based on smart materials are widely used in micro- and nanoscale systems, metal cutting systems and other ultra-high precision positioning systems. However, an unavoidable drawback in smart material-based actuators is the hysteresis nonlinearity. Because lags are non-differentiable and multivalued, when a control system lacks compensation for lags, it may exhibit undesirable properties such as oscillations or even instability. [0003] Usually, one way to deal with hysteresis is to construct an inverse model of hysteresis, and place it as a compensator in the control system before the actuator; the other method is to design a robust automatic Adapt schemes to mitigate the effects of hysteresis. For the fi...

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Problems solved by technology

However, since the nonlinear part of the hysteresis may be unbounded, which means that the observer error may have no upper bound, the second approach may not work without establishing the hysteresis inverse when the output signal is available

So far, output feedback control schemes with hysteresis inverse compensators are difficult to obtain

[0004] In piezoelectric precision position platform control systems, since velocity and acceleration are usually inconvenient to measure, an achievable robust adaptive output feedback control algorithm is still unavailable

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