CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
An Active Disturbance Rejection Controller with Hysteresis Compensation for Piezoelectric Actuators
Liu WC(刘伟川); Cheng L(程龙); Hou ZG(侯增广); Tan M(谭民); long cheng
2016
Conference Name2016 12th World Congress on Intelligent Control and Automation
Source Publication2016 12th World Congress on Intelligent Control and Automation
Conference DateJune 12-15, 2016
Conference Place中国桂林
Abstract
Piezoelectric Actuators (PEAs) are the key components
in nano-positioning. However, the inherent hysteresis
nonlinearity of PEAs is seriously affected the control precision.
In this paper, an active disturbance rejection controller is
proposed to deal with the tracking control of PEAs. First,
the hysteresis nonlinearity is reformulated as a disturbance
of the closed-loop system. With this idea, a disturbance-based
model is derived from the comprehensive model of PEAs. Then
the so-called extended state observer is introduced to real-time
estimate the hysteresis nonlinearity. With the extended state
observer, the model of hysteresis or its inversion are all no longer
needed. To verify the performance of the proposed method,
some experiments are conducted on a commercial PEA. And
the experiment results show that the proposed controller is an
effective way to deal with the tracking control of PEAs.
KeywordHysteresis Adrc Tracking Control
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11669
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding Authorlong cheng
Recommended Citation
GB/T 7714
Liu WC,Cheng L,Hou ZG,et al. An Active Disturbance Rejection Controller with Hysteresis Compensation for Piezoelectric Actuators[C],2016.
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