Hysteresis compensation-based robust output feedback control for long-stroke piezoelectric actuators at high frequency

Abstract

Piezoelectric actuators (PEAs) are the key element for many vital applications and they play a big role in modern industries due to their operational characteristics. However, parametric uncertainties along with nonlinearities due to hysteresis and creep effects certainly impact severely the high precision tracking control of PEAs. This paper presents a robust output feedback controller for PEAs with hysterical dynamics compensated. In addition, a high gain observer is utilized to estimate the PEA’s tip velocity in order to facilitate the operation of the control algorithm. The proposed controller is designed to handle the unknown parameters and uncertainties associated with the nonlinear behavior of the PEAs. It is also tested on a commercial long-stroke PEA using different high frequency profiles. Experimental results show the effectiveness and robustness of the proposed controller compared to existing controllers.