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31 8 Vol. 31 No. 8
2014 8 Control Theory Applications Aug. 2014
DOI: 10.7641/CTA.2014.31269
Bouc-Wen
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: TP273 : A
Backstepping control with error transformation for
Bouc-Wen hysteresis nonlinear system
ZHAO Xin-long , WANG Jia-li
(College of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou Zhejiang 310018, China)
Abstract: The Bouc-Wen model is employed to describe hysteresis phenomenon which is non-smooth and multi-valued
mapping in smart-material-based actuators. A backstepping controller combining with error transformation is proposed for
a class of hysteresis systems. First, the prescribed performance function is used to confine the error to residual set with
variable property in Bouc-Wen model explored. Then the output error transformation is introduced to transform the original
constrained system into an equivalent unconstrained one. Finally, a backstepping controller is designed for the hysteresis
systems. This control scheme can track the desired output effectively, guarantee the prescribed performance and improve
the transient and steady state of the system. The simulation results illustrate the effectiveness of the proposed method.
Key words: hysteresis; Bouc-Wen model; error transformation; backstepping
1 (Introduction) .
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