TY - GEN
T1 - Hysteresis-observer based robust tracking control of piezoelectric actuators
AU - Sofla, Mohammad Sheikh
AU - Rezaei, Seyed Mehdi
AU - Zareinejad, Mohammad
AU - Saadat, Mozafar
PY - 2010
Y1 - 2010
N2 - In this paper, a robust control approach using a novel hysteresis observer is developed for precise tracking control of piezoelectric actuators (PEAs). The proposed control methodology considers the problems of unknown or uncertain system parameters, hysteresis nonlinearity and external load disturbances. For representing the behavior of a PEA, Bouc-Wen hysteresis model is integrated with a second-order linear dynamics. It is shown that the nonlinear response of the model due to the hysteresis effect, acts as a bounded disturbance. Based on this fact a hysteresis observer is proposed to estimate the hysteresis effect. Then for real-time compensation of the observer error, parametric uncertainties and external disturbances, the sliding mode controlstrategy with a perturbation estimation function is utilized. By using the proposed control approach the asymptotical stability in displacement tracking and robustness to the dynamic load disturbances can be provided. Finally, experimental results are illustrated to verify the efficiency of the proposed method for practical applications.
AB - In this paper, a robust control approach using a novel hysteresis observer is developed for precise tracking control of piezoelectric actuators (PEAs). The proposed control methodology considers the problems of unknown or uncertain system parameters, hysteresis nonlinearity and external load disturbances. For representing the behavior of a PEA, Bouc-Wen hysteresis model is integrated with a second-order linear dynamics. It is shown that the nonlinear response of the model due to the hysteresis effect, acts as a bounded disturbance. Based on this fact a hysteresis observer is proposed to estimate the hysteresis effect. Then for real-time compensation of the observer error, parametric uncertainties and external disturbances, the sliding mode controlstrategy with a perturbation estimation function is utilized. By using the proposed control approach the asymptotical stability in displacement tracking and robustness to the dynamic load disturbances can be provided. Finally, experimental results are illustrated to verify the efficiency of the proposed method for practical applications.
UR - http://www.scopus.com/inward/record.url?scp=77957802661&partnerID=8YFLogxK
U2 - 10.1109/acc.2010.5530591
DO - 10.1109/acc.2010.5530591
M3 - Conference contribution
AN - SCOPUS:77957802661
SN - 9781424474264
T3 - Proceedings of the 2010 American Control Conference, ACC 2010
SP - 4187
EP - 4192
BT - Proceedings of the 2010 American Control Conference, ACC 2010
PB - IEEE Computer Society
ER -