An RST control design based on interval technique for piezomicropositoning systems with rate-dependent hysteresis nonlinearities

Micky Rakotondrabe (1) , Mohammad Al Janaideh (2)

1 LGP - Laboratoire Génie de Production
2 MUN - Memorial University of Newfoundland = Université Memorial de Terre-Neuve [St. John's, Canada]

We propose a feedforward-feedback con-trol of piezomicropositioing systems devoted to pre-cise positioning over different operating conditions. Such systems exhibit rate-dependent hysteresis non-linearities and badly damped oscillations character-istics. First, we introduce a rate-dependent Prandtl-Ishlinskii (RDPI) inverse model for feeforward com-pensation of hysteresis. This yields to compensation that can be characterized by an uncertain linear model with disturbances. To model the uncertainties, we suggest to use intervals then we propose a new interval design for a RST structured feedback controller. The proposed design method permits to satisfy prescribed performances. Simulation and experiments on a piezo-electric tube actuator are carried out and demonstrate the efficiency of the proposed control design.

Mots clés: RST Control Design; Piezomicropositoning Systems

Domaines: Robotique [cs.RO]; Electronique

Micky Rakotondrabe, Mohammad Al Janaideh. An RST control design based on interval technique for piezomicropositoning systems with rate-dependent hysteresis nonlinearities. 2019 IEEE 58th Conference on Decision and Control (CDC), Dec 2019, Nice, France. pp.1-8. ⟨hal-03103952⟩