Observer based control of piezoelectric actuators with classical Duhem modeled hysteresis

Authors:
Wen-Fang Xie;Jun Fu;Han Yao;C.-Y. Su
Affiliations:
Department of Mechanical & Industrial Engineering, Concordia University;Department of Mechanical & Industrial Engineering, Concordia University;Department of Mechanical & Industrial Engineering, Concordia University;Department of Mechanical & Industrial Engineering, Concordia University
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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Abstract

An observer-based adaptive control scheme for piezoelectric actuators is proposed. In the developed method the classical Duhem model is adopted to describe the hysteresis exhibited in the piezoelectric actuators. Due to the unavailability of the hysteresis output, an observer-based adaptive controller, with incorporation of a pre-inversion neural network compensator for the purpose of mitigating the hysteretic effects, is designed to guarantee the stability of the adaptive system and tracking error between the position of the piezoelectric actuator and the desired trajectory to a desired precision. Simulation studies illustrate the effectiveness of the proposed method.