Adaptive Controller With Anti-Windup Compensator for Piezoelectric Micro Actuating Systems

Abstract

In this study, the control approach for the piezoelectric actuating system under broad ranges frequency is designed. Addressing the frequency dependent property (rate-dependent) hysteresis of the input signal in piezoelectric actuators, a phenomenological model, a rate-dependent Prandtl-Ishlinskii (RDPI) model, has been utilized to predict the output actuating ability of piezoelectric actuators. Considering the existence of hysteresis and actuator saturation, an adaptive controller with an anti-windup compensator is designed. The actuating performance and the global stability are guaranteed by virtue of the RDPI hysteresis model and the designed anti-saturation filter blocks. The good performance of the proposed control method in mitigating the negative effects under various saturation conditions has been demonstrated by comparing simulation and experimental results.