Backstepping-based robust-adaptive control of a nonlinear 2-DOF piezoactuator. (August 2015)

• Record Type: Journal Article
• Authors: Escareno, Juan-Antonio; Rakotondrabe, Micky; Habineza, Didace
• Is Part Of: Control engineering practice. Volume 41(2015)
• Page Start: 57
• Page End: 71
• Publication Date: 2015-08
• Subjects: Piezoelectric actuator -- 2 degrees of freedom -- Hysteresis nonlinearity -- Backstepping technique -- Merged sliding mode and adaptive schemes -- Robust controller; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2015.04.007
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: This paper deals with the control of a two degrees of freedom (2-DOF) piezoelectric actuator for precise positioning and which exhibits strong hysteresis nonlinearity and strong cross-couplings. To tackle the nonlinearity and the cross-couplings, we propose two decoupled models in which they are considered as (fictive) external disturbances which require proper characterization. Then, a backstepping technique is proposed to construct a robust controller that merges sliding-mode and adaptive schemes. Extensive experimental tests are finally carried out to prove the efficiency of the modeling and control technique proposed.