智能执行器中的迟滞特性严重影响控制系统的精度和稳定性. 文章采用Bouc-Wen模型来描述迟滞特性,并融合该模型设计自适应控制器.对于Bouc-Wen模型的解特性未知,影响控制器的设计.首先通过傅立叶变换得到该模型的近似解,然后提出了预设自适应控制方法来保证系统跟踪误差的暂态和稳态性能.仿真结果验证了该方法的有效性.

The hysteresis nonlinearity in smart-material based actuators highly affect the accuracy and stability of the control systems. In this paper, the Bouc-Wen model is adopted to describe the hysteresis nonlinearity and an adaptive controller fused with the model is proposed. To develop such a controller, the solution properties of Bouc-Wen model is explored. As the general solution properties of the Bouc-Wen model are still unknown, an approximate solution is presented by the Fourier transform. Thus, an adaptive control approach with prescribed performance is developed to guarantee the transient and steady-state performance of the tracking error. Simulation results validate the effectiveness of the proposed approach.