John S. Baras


Optimal Control of Hysteresis in Smart Actuators: A Viscosity Solution Approach

X.Tan and J.S Baras

5th International Workshop on Hybrid Systems: Computation and Control, Springer Lecture notes in Computer Science(LNCS) Vol.2289, pp.451-464, Palo Alto, CA, March 25-27, 2002

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Hysteresis in smart materials hinders their wider applicability in actuators. The low dimensional hysteresis models for these materials are hybrid systems with both controlled switching and autonomous switching. In particular, they belong to the class of Duhem hysteresis models and can be formulated as systems with both continuous and switching controls. In this paper, we study the control methodology for smart actuators through the example of controlling a commercially available magnetostrictive actuator. For illustrative purposes, an infinite horizon optimal control problem is considered. We show that the value function satisfies a Hamilton-Jacobi-Bellman equation (HJB) of a hybrid form in the viscosity sense. We further prove uniqueness of the viscosity solution to the (HJB), and provide a numerical scheme to approximate the solution together with a sub-optimal controller synthesis method. Numerical and experimental results based on this approach are presented.

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