Rate-Dependent Modeling and Robust Control of GMA Based on Hammerstein Model With Preisach Operator


In this brief, a brand new Hammerstein model is proposed for a rate-dependent hysteresis in large magnetostrictive actuators (GMAs). A Preisach operator and an autoregressive model with exogenous input are used to represent, respectively, the static nonlinear function and also the linear dynamic subsystem of this model. It is shown that the proposed model can satisfactorily describe the hysteresis of a GMA at intervals a frequency vary of zero-100 Hz. Primarily based on this model, a two DOF control scheme with an H∞ strong controller combined with an inverse compensator is proposed for real-time trajectory tracking. The proposed control scheme will maintain system stability and tracking performance within the presence of system uncertainties and external disturbances. The simulation and experimental results show that the proposed model and the corresponding management scheme can considerably improve the performance of the rate-dependent hysteresis system.

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