Adaptive Inverse Control of Piezoelectric Actuator with non-Smooth Hysteresis Model

In order to realize the high frequency ultra-precision motion control of piezoelectric actuator (PEA), it is not only considering nonlinear hysteresis impact on the piezoelectric transducer, but also dynamic characteristics of control circuit and load cannot be ignored, it is called non-smooth hysteresis system. In this paper, an adaptive inverse controller uses non-smooth sandwich hysteresis model is proposed. To solve the problem of hysteresis modeling, a nonlinear discrete hysteresis operator is introduced to solve the parametric linearization problem of the hysteresis. Then a generalized adaptive filtering algorithm uses the key separation technique is proposed to online estimate the parameters of the adaptive controller. Adaptive law and control law are given to illustrate the stability of the proposed control scheme. The experiment is provided to confirm the effectiveness of the proposed control algorithm. Moreover, to show the good performance of the designed adaptive inverse controller, a conventional PID controller is proposed and compared in the experiment. The results show that the proposed controller is superior to the conventional one.