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Observer-Based Robust Control With Adaptive Perturbation Estimation for a Piezoelectric Actuator

[+] Author Affiliations
Hamed Ghafarirad, Seyed Mehdi Rezaei, Amir Abdullah, Mohammad Zareinejad

Amirkabir University of Technology, Tehran, Iran

Mozafar Saadat

The University of Birmingham, Birmingham, UK

Paper No. IMECE2010-40167, pp. 497-505; 9 pages
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME


Control of piezoelectric actuators is under the effects of hysteresis that could affect actuators micropositioning accuracy. In this paper a modified Prandtl-Ishlinskii (PI) operator and its inverse is utilized for both identification and real time compensation of the hysteresis effect. As a result, the actuator dynamic model would be transformed to the second order linear dynamic model. Considering the parametric uncertainties, PI estimation error and probably unmodeled dynamics, a variable structure controller coupled with adaptive perturbation estimation is proposed for trajectory tracking of the piezoelectric position. Requiring the velocity state of the actuator, a high-gain observer would estimate the full state from the only measurable position trajectory. The stability of the controller in the presence of the estimated state is demonstrated with the Lyapunov criterion. Comparing to the widely used proportional-integral controller, the experimental results depicts that the proposed approach is achieved in precisely tracking of multiple frequency trajectories.

Copyright © 2010 by ASME



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