A fuzzy model predictive controller for stick‐slip type piezoelectric actuators

Abstract

AbstractIn nano/micro‐positioning applications, stick‐slip type piezoelectric actuators (SSPEAs) are usually employed for a satisfactory performance in both the movement range and the positioning accuracy. Unfortunately, the controller design of SSPEAs is a challenging task, which is seldom studied in the literature. So this article presents an idea of using the fuzzy model predictive control approach for the high‐precision positioning. First, a prototype of the stick‐slip type piezoelectric actuator is designed. Then a Takagi‐Sugeno fuzzy model is established for the entire SSPEA, whose parameters can be further adapted by the recursive estimation approach based on the online measurement. Based on this model, a predictive controller can be designed for SSPEAs. Compared to some existing studies, the proposed fuzzy model directly describes the input–output relationship of the entire SSPEA rather than modeling separately. As a result, the controller can be simplified. Finally, some experiments are conducted on the SSPEA prototype, which demonstrates a satisfactory control performance