Modeling and H∞ Robust Control of a Smart Structure with Rate-dependent Hysteresis Nonlinearity

The performance of smart structures in trajectory tracking under sub-micron level is hindered by the rate-dependent hysteresis nonlinearity.In this paper,a Hammerstein-like model based on the support vector machines(SVM)is proposed to capture the rate-dependent hysteresis nonlinearity.We show that it is possible to construct a unique dynamic model in a given frequency range for a rate-dependent hysteresis system using the sinusoidal scanning signals as the training set of signals for the linear dynamic subsystem of the Hammerstein-like model.Subsequently,a two-degree-of-freedom(2DOF)H∞robust control scheme for the ratedependent hysteresis nonlinearity is implemented on a smart structure with a piezoelectric actuator(PEA)for real-time precision trajectory tracking.Simulations and experiments on the structure verify both the efectiveness and the practicality of the proposed modeling and control methods.