Adaptive Tracking Control of Piezoactuators with Hysteresis and Creep Nonlinearities

When designing control schemes for piezoelectric actuators, it is a challenging problem to ensure that the output tracking error converges to zero, especially in the situation when the techniques of identification and inversion are not applicable. To overcome the challenge, in this work, we present a state-feedback model reference adaptive control (MRAC) scheme for output tracking problem of piezoelectric actuators, where the hysteresis is described by the Preisach model, and the internal dynamics is described by a linear time-invariant (LTI) system. Due to the coupling effect, the hysteresis parameters are assumed to be unknown. Also, all parameter matrices of the plant are uncertain. With our scheme, the desired closed-loop performances, i.e., the signals boundedness, and the asymptotic output tracking, can be well achieved. Experimental results confirm the proposed scheme.