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

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.