一类微驱动器的复合控制及稳定性分析

Stability Analysis for a Class of Micro Actuator under the Compound Control

考虑一类基于微驱动器的微分方程摩擦模型,对微驱动器的动态方程进行重构,得到等价状态空间模型。根据该模型,提出了一种新的包括前馈控制、PID控制和径向基神经网络控制的复合控制方法。通过构造合适的李雅普诺夫函数,证明了系统在平衡点是渐近稳定的,且跟踪误差渐近收敛到零。

The difference equation model of micro actuator is considered in this paper. An equivalent state space model is derived from the dynamic equation of micro actuator. According to the model, a new compound control method, including feed-forward control, PID control and radial basis network control, is proposed. The stability of the new control method is proved through constructing ac-ceptable Lyapunov function.