Multirate Sampled-Data Output Feedback Control With Application to Smart Material Actuated Systems
Authors:
- 13 October 2009
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 54 (11) , 2518-2529
Abstract
We consider multirate sampled-data output feedback control of a class of nonlinear systems using high-gain observers where the measurement sampling rate is made faster than the control update rate. We show that, in the presence of bounded disturbances, given a sampled data state feedback controller that achieves stabilization with respect to a closed set, the multirate output feedback controller recovers stabilization of the same set provided the measurement sampling rate is sufficiently fast. As an application we consider the control of smart material actuated systems. This scheme combines a discrete-time high-gain observer with a hysteresis inversion controller where the hysteresis is modeled using a Preisach operator. Experimental results for the control of a shape memory alloy actuated rotary joint are provided.Keywords
This publication has 26 references indexed in Scilit:
- Position Control of a Three-link Shape Memory Alloy Actuated RobotJournal of Intelligent Material Systems and Structures, 2006
- Performance Recovery Under Output Feedback Sampled-Data Stabilization of a Class of Nonlinear SystemsIEEE Transactions on Automatic Control, 2004
- A Framework for Stabilization of Nonlinear Sampled-Data Systems Based on Their Approximate Discrete-Time ModelsIEEE Transactions on Automatic Control, 2004
- Design of a Kalman filter for rotary shape memory alloy actuatorsSmart Materials and Structures, 2004
- A note on input-to-state stabilization for nonlinear sampled-data systemsIEEE Transactions on Automatic Control, 2002
- Output feedback sampled-data control of nonlinear systems using high-gain observersIEEE Transactions on Automatic Control, 2001
- Discrete-time approximated linearization of SISO systems under output feedbackIEEE Transactions on Automatic Control, 1999
- Hysteresis Modeling of SMA Actuators for Control ApplicationsJournal of Intelligent Material Systems and Structures, 1998
- Feedback Control Using Shape Memory Alloy ActuatorsJournal of Intelligent Material Systems and Structures, 1998
- Some qualitative properties of sampled-data control systemsIEEE Transactions on Automatic Control, 1997