Robust Control of Rate-dependent Hysteresis in Smart Actuators

The inherent rate-dependent hysteresis in smart actuators hinders their wider applicability in practical engineeering. In this paper, based on the rate-dependent Hammerstein model, a 2 DOF control scheme with a robust controller combined with a hysteresis compensator is proposed for tracking control of smart actuators. The hysteresis compensator is first connected in cascade with an actuator to cancel out the static hysteresis, then the compensation errors and the modeling errors are attributed to the additive model uncertainty, and finally an H integral robust controller is designed. Compared to the H robust controller without integrator, the H integral robust controller results in smaller errors. The tracking control simulation results for a giant magnetostrictive actuator verified the effectiveness of the proposed control scheme.