This chapter presents the design and testing of a model-reference adaptive control (MRAC) scheme to compensate for the hysteresis effect of a class of piezo-actuated systems, which possess a second-order nominal model. Specifically, by treating the uncertainties as a lumped perturbation to the nominal system model, a scheme of MRAC with perturbation estimation (MRACPE) is developed and validated on a micropositioning system. As compared with existing works, the reported scheme allows the predesign of the maximum tracking error. It is capable of estimating the unmodeled perturbation of the system online.
CITATION STYLE
Xu, Q., & Tan, K. K. (2016). Model-reference adaptive control with perturbation estimation. In Advances in Industrial Control (Vol. 174, pp. 187–205). Springer International Publishing. https://doi.org/10.1007/978-3-319-21623-2_9
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