Time-varying Sliding Mode Control in Hysteresis Compensation of the Piezoceramic Actuators Based on the Inverse Preisach Model

In order to reduce the hysteresis characteristics of the piezoceramic actuators, an exponential time-varying sliding mode controller based on inverse compensation was proposed in this paper. Firstly, an inverse preisach model of the hysteresis was achieved to reduce the impact of the hysteresis. However, the hysteresis can't be entirely offset by the inverse model, and there are also many uncertainties in the system. So an exponential time-varying sliding mode controller which is global robust against external disturbances and system uncertainties is designed. The experiment results show that the proposed control strategy improves the tracking accuracy of the system. And compared with the conventional sliding mode control, the proposed control strategy can smoothly track the input signal in the initial stage, and eliminates the reaching phase of time invariant sliding mode control.