Adaptive approximation-based control of hysteretic unconventional actuators

@article{Riccardi2011AdaptiveAC,
  title={Adaptive approximation-based control of hysteretic unconventional actuators},
  author={Leonardo Riccardi and David Naso and Biagio Turchiano and Hartmut Janocha},
  journal={IEEE Conference on Decision and Control and European Control Conference},
  year={2011},
  pages={958-963}
}
In this paper we develop an algorithm for adaptive control of unconventional actuators based on Prandtl-Ishlinskii models and Lyapunov design. The chosen family of models is general enough to capture the strongly variable shapes of the hysteresis exhibited by some electro-active materials and has an inverse model that can be computed analytically. The approach proposed in this paper adapts the parameters of the model with a learning law based on the minimization of the tracking error, and… CONTINUE READING
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