TY - GEN

T1 - Robust control of magnetostrictive actuators with uncertain system

AU - Ekanayake, Dinesh B.

AU - Iyer, Ram V.

PY - 2008

Y1 - 2008

N2 - In this paper, the problem of designing a state feedback controller over a wide frequency range (0-1kHz) for a magnetostrictive actuator connected to a mechanical system is discussed. Our model for the magnetostrictive actuator includes hysteresis, classical and excess eddy current losses. The hysteresis nonlinearity is modeled using a classical Preisach operator, and it is assumed that the density function is approximately known. The feedback controller achieves uniform ultimate boundedness - a property weaker than global asymptotic stability when the trajectory to be tracked is zero - in the presence of exogenous disturbances and uncertainty in the model. The main objective of the paper is to demonstrate that knowledge of the induced emf can be used to eliminate the need for hysteresis compensation in the control scheme. The novelty of this work is that we utilize the induced emf in the actuator coil as an observed variable, and also demonstrate how this quantity can be measured in real-time. Most controllers use inverse compensators to cancel out actuator hysteresis nonlinearity. We show that we can achieve uniform ultimate bounded control without an explicit inverse computation (using least squares minimization or otherwise).

AB - In this paper, the problem of designing a state feedback controller over a wide frequency range (0-1kHz) for a magnetostrictive actuator connected to a mechanical system is discussed. Our model for the magnetostrictive actuator includes hysteresis, classical and excess eddy current losses. The hysteresis nonlinearity is modeled using a classical Preisach operator, and it is assumed that the density function is approximately known. The feedback controller achieves uniform ultimate boundedness - a property weaker than global asymptotic stability when the trajectory to be tracked is zero - in the presence of exogenous disturbances and uncertainty in the model. The main objective of the paper is to demonstrate that knowledge of the induced emf can be used to eliminate the need for hysteresis compensation in the control scheme. The novelty of this work is that we utilize the induced emf in the actuator coil as an observed variable, and also demonstrate how this quantity can be measured in real-time. Most controllers use inverse compensators to cancel out actuator hysteresis nonlinearity. We show that we can achieve uniform ultimate bounded control without an explicit inverse computation (using least squares minimization or otherwise).

UR - http://www.scopus.com/inward/record.url?scp=78149365536&partnerID=8YFLogxK

U2 - 10.1115/SMASIS2008-541

DO - 10.1115/SMASIS2008-541

M3 - Conference contribution

AN - SCOPUS:78149365536

SN - 9780791843314

SN - 9780791843321

T3 - Proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS2008

SP - 429

EP - 436

BT - Proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS2008

T2 - ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS2008

Y2 - 28 October 2008 through 30 October 2008

ER -