Abstract
SummaryHysteretic characteristics commonly exist in piezoelectric actuators (PEAs) and degrade the positioning accuracy particularly in the case of low‐frequency trajectory tracking. A PEA with hysteretic characteristics is usually difficult to precisely control because the unmeasurable hysteretic force is typically generated by a complicated nonlinear dynamic model. This task can be theoretically formulated as a robust output regulation problem with a specific nonlinear and non‐autonomous exosystem. In this paper, the theoretical problem is first solved within a novel internal model architecture. With the proposed controller, the PEA is able to asymptotically track a desired reference trajectory with the robustness to plant uncertainties. The effectiveness of the design is verified by extensive experiments. Copyright © 2016 John Wiley & Sons, Ltd.
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