Abstract
A methodology for designing a low-computation, high-bandwidth strategy for closed-loop control of a hysteretic system without a priori knowledge of the desired trajectory is presented. The resulting two degree-of-freedom hysteresis control strategy is applied to a dynamic mirror with antagonistic piezoelectric stack actuation. Hysteresis compensator is performed by a finite state machine switching polynomials for hysteresis inversion based on the input signal slope. Residual error after hysteresis compensation is corrected by an LQR feedback controller. Experimental results demonstrate effectiveness of the hysteresis compensator and closed-loop system under the proposed hysteresis control strategy. For the triangular input signal tested, the closed-loop system achieves a 91.5% reduction in hysteresis uncertainty with 60 kHz sample rate.
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