Observer-based robust control with adaptive perturbation estimation for a piezoelectric actuator

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

Authors

  • Hamed Ghafarirad
  • Seyed Mehdi Rezaei
  • Amir Abdullah
  • Mohammad Zareinejad
  • Mozafar Saadat

Colleges, School and Institutes

External organisations

  • Amirkabir University of Technology
  • Department of Mechanical Engineering

Abstract

Control of piezoelectric actuators is under the effects of hysteresis that could affect actuators micropositioning accuracy. In this paper a modified Prandtl-Ishlinskii (PI) operator and its inverse is utilized for both identification and real time compensation of the hysteresis effect. As a result, the actuator dynamic model would be transformed to the second order linear dynamic model. Considering the parametric uncertainties, PI estimation error and probably unmodeled dynamics, a variable structure controller coupled with adaptive perturbation estimation is proposed for trajectory tracking of the piezoelectric position. Requiring the velocity state of the actuator, a high-gain observer would estimate the full state from the only measurable position trajectory. The stability of the controller in the presence of the estimated state is demonstrated with the Lyapunov criterion. Comparing to the widely used proportional-integral controller, the experimental results depicts that the proposed approach is achieved in precisely tracking of multiple frequency trajectories.

Details

Original languageEnglish
Title of host publicationASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
Publication statusPublished - 2010
EventASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010 - Vancouver, BC, Canada
Duration: 12 Nov 201018 Nov 2010

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
NumberPARTS A AND B
Volume8

Conference

ConferenceASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
CountryCanada
CityVancouver, BC
Period12/11/1018/11/10

ASJC Scopus subject areas