@misc{Yang_Sen_Nonsmooth,
 author={Yang, Sen and Tan, Yonghong and Dong, Ruili and Tan, Qingyuan},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={A nonsmooth optimization control (NOC) based on a sandwich model with hysteresis is proposed to control a micropositioning system (MPS) with a piezoelectric actuator (PEA). In this control scheme, the hysteresis phenomenon inherent in the PEA is described by a Duhem submodel embedded between two linear dynamic submodels that describe the behavior of the drive amplifier and the flexible hinge with load, respectively, thus constituting a sandwich model with hysteresis.},
 abstract={Based on this model, a nonsmooth predictor for sandwich systems with hysteresis is constructed. To avoid the complicated online search for the optimal value of the generalized gradient at a nonsmooth point, the method of the so-called weighted estimation of generalized gradient is proposed. In order to compensate for the model error caused by model uncertainty, a model error compensator (MEC) is integrated into the online optimization control strategy. Afterwards, the stability of the control system is analyzed based on Lyapunov`s theory. Finally, the proposed NOC-MEC method is verified on an MPS with a PEA, and the corresponding experimental results are presented.},
 type={artykuł},
 title={Nonsmooth optimization control based on a sandwich model with hysteresis for piezo-positioning systems},
 keywords={optimization control, hysteresis, compensation, piezoelectric actuator, sandwich systems},
}