Hysteresis-observer based robust tracking control of piezoelectric actuators

Mohammad Sheikh Sofla, Seyed Mehdi Rezaei, Mohammad Zareinejad, Mozafar Saadat

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)


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.

Original languageEnglish
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)9781424474264
Publication statusPublished - 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

ASJC Scopus subject areas

  • Control and Systems Engineering


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