Development of Lyapunov-Based Genetic Algorithm Control for Linear Piezoelectric Ceramic Motor Drive

In general, the role of genetic algorithm (GA) is operated offline as a minor compensator or tuner in the control engineering because the systematic design and the latent stability problem of a GA-based control scheme are required to be solved. This paper originally designs a Lyapunov-based GA control (LGAC) scheme, and it applies for a practical control engineering example of the online motion control of a linear piezoelectric ceramic motor driven by a hybrid resonant inverter. In this control scheme, a GA control system via backstepping design technique is utilized to be the major controller, and adaptation laws derived from Lyapunov stability analyses are manipulated to adjust appropriate evolutionary steps. As a result, the system stability can be guaranteed directly without strict constraint conditions and detailed system knowledge. The effectiveness of the proposed drive and control system is verified by experimental results in the presence of uncertainties. From the measured results, the LGAC system performs superior high-precision motion control under wide operation range than conventional backstepping control system.