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中文摘要：
超磁致伸缩作动器的率相关迟滞非线性成为其在工程应用中的一大阻碍因素.通过使用特殊建模激励信号,基于最小二乘支持向量机建立了一定频率范围内的统一率相关Hammerstein-like迟滞非线性模型,该模型能够保证其建模频率范围内单频和复合频率的模型泛化性.在此模型基础上,设计了前馈逆补偿与PID（Proportional-Integral-Derivative）反馈控制相结合的复合控制策略,针对一定频率范围内的所有单频和复合频率的输入信号,该控制器都能够保证其跟踪控制效果,最后通过实验实时跟踪控制结果进一步验证了所设计控制器的有效性.
英文摘要：
The rate-dependent hysteresis in giant magnetostrictive materials is a major impediment to the application of such material in actuators. A Hammerstein-like model based on the least square support vector machines （LS-SVM） was proposed to model the rate-dependent hysteresis system. It was possible to construct a unique dynamic model in a given frequency range for a rate-dependent hysteresis system using the sinusoidal scanning signals as the training set of signals for the linear dynamic subsystem of the Hammerstein-like model, which guaranteed an outstanding generalization ability of frequency. Subsequently, a proportional-integral-de- rivative （PID） feedback control scheme combined with a feed-forward compensation was implemented to a magnetostrictive smart structure for real-time precise trajectory tracking. Simulations and experiments on a gi- ant magnetostrictive actuator （GMA） verify both the effectiveness and the practicality of the proposed modeling and control methods.
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