SVD-based Preisach hysteresis identification and composite control of piezo actuators

In this paper, the singular value decomposition (SVD) based identification and compensation of the hysteretic phenomenon in piezo actuators are addressed using a Preisach model. First, this paper presents an SVD-based least squares algorithm and a revision approach of the identification through updating the SVD. With the identified parameters and a log of the memory curve, a Preisach-based inversion compensator is constructed which is complemented with a feedback controller to address the inevitable and residual modeling errors. Experimental results are furnished for both the identification and compensation approaches. The Preisach-based feedforward controller significantly improves the tracking performance and reduces the root-mean-square (RMS) tracking error of a PID controller by 76.7% and 89% at 1 Hz and 25 Hz, respectively. With the proposed composite controller, the percent-RMS errors at 1 Hz and 25 Hz are reduced to 0.035% and 0.31%, respectively.