- Title
- Tracking of piezoelectric actuators with hysteresis: a nonlinear robust output regulation approach
- Creator
- Chen, Zhiyong; Zheng, Jinchuan; Zhang, Hai-Tao; Ding, Han
- Relation
- International Journal of Robust and Nonlinear Control Vol. 27, Issue 15, p. 2610-2626
- Publisher Link
- http://dx.doi.org/10.1002/rnc.3702
- Publisher
- John Wiley & Sons
- Resource Type
- journal article
- Date
- 2017
- Description
- Hysteretic characteristics commonly exist in piezoelectric actuators (PEAs) and degrade the positioning accuracy particularly in the case of low-frequency trajectory tracking. A PEA with hysteretic characteristics is usually difficult to precisely control because the unmeasurable hysteretic force is typically generated by a complicated nonlinear dynamic model. This task can be theoretically formulated as a robust output regulation problem with a specific nonlinear and non-autonomous exosystem. In this paper, the theoretical problem is first solved within a novel internal model architecture. With the proposed controller, the PEA is able to asymptotically track a desired reference trajectory with the robustness to plant uncertainties. The effectiveness of the design is verified by extensive experiments.
- Subject
- output regulation; nonlinear systems; robust control; internal model; hysteresis; piezoelectric actuator
- Identifier
- http://hdl.handle.net/1959.13/1352032
- Identifier
- uon:30814
- Identifier
- ISSN:1049-8923
- Language
- eng
- Full Text
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