A Hysteresis Compensation Control Method for Piezoelectric Actuators Based on Truncated Least Squares Support Vector Machine

Abstract

To overcome the low positioning accuracy of piezoelectric actuators (PEAs) caused by the hysteresis non-linearity, a hysteresis compensation control method based on truncated least squares support vector machine(T-LSSVM) is proposed. Firstly, for the low-robustness of least squares support vector machine(LS-SVM), a novel truncation strategy is proposed and a robust truncated least squares support vector machine(T-LSSVM) for hysteresis modeling is established. Then, based on T-LSSVM, the hysteresis inverse model is established to achieve real-time compensation for the hysteresis nonlinearity in PEAs. Finally, based on the hysteresis inverse compensation method, the feedforward-feedback hysteresis compensation control for PEAs is established. To test the proposed control method, the PID feedback control is introduced as comparisons. Experimental results show that the proposed control method is of higher accuracy and better generalization, realizing real-time high-precision tracking control of PEAs.