Tracking Control of Hysteretic Piezoelectric Actuator using Adaptive Rate-Dependent Controller

Area of Science:

• Control Systems Engineering
• Materials Science
• Robotics

Background:

• Piezoelectric actuators exhibit inherent rate-dependent hysteresis, degrading tracking accuracy.
• Accurate modeling of hysteresis is challenging due to environmental factors and actuator aging.
• Existing models often oversimplify dynamics or require frequent recalibration.

Purpose of the Study:

• To develop an adaptive, rate-dependent feedforward controller for piezoelectric actuators.
• To overcome the limitations of traditional hysteresis modeling and control methods.
• To enhance the tracking performance of piezoelectric actuators in non-periodic motion control.

Main Methods:

• Utilizing Prandtl-Ishlinskii (PI) hysteresis operators within an adaptive feedforward control framework.
• Developing a controller that adapts coefficients to adjust the weights of play operators.
• Implementing and experimentally validating the adaptive controller on piezoelectric actuators.

Main Results:

• The proposed adaptive controller effectively compensates for rate-dependent hysteresis.
• Demonstrated accurate tracking control for various non-periodic waveforms.
• Experimental results confirm the controller's ability to handle complex, time-varying dynamics.

Conclusions:

• The adaptive PI-based feedforward controller offers a robust solution for piezoelectric actuator control.
• This approach significantly improves tracking accuracy, especially for non-periodic trajectories.
• The method reduces the need for frequent, costly recalibration of hysteresis models.