Particle swarm optimization-tuned adaptive fuzzy output feedback motion tracking control of piezo-positioning mechanism with unknown hysteresis

Abstract

This paper considers the problem of observer-based adaptive fuzzy output feedback control for a piezo-positioning mechanism with unknown hysteresis. In this paper, fuzzy logic systems (FLSs) are used to estimate the unknown nonlinear functions, and also Nussbaum function is utilized to overcome the unknown direction hysteresis. Based on the Lyapunov method, the control scheme is constructed by using the backstepping and adaptive technique. In order to better control performance in reducing tracking error, the particle swarm optimization (PSO) algorithm is utilized for tuning the controller parameters. Proposed adaptive controller guarantees that all the closed-loop signals are semiglobally uniformly ultimately bounded (SGUUB) and the tracking error can converge to a small neighborhood of the origin. Finally, the simulation results are provided to demonstrate the effectiveness and robustness of the proposed approach.