An Active Disturbance Rejection Controller with Hysteresis Compensation for Piezoelectric Actuators

	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
会议名称	2016 12th World Congress on Intelligent Control and Automation
会议录名称	2016 12th World Congress on Intelligent Control and Automation
会议日期	June 12-15, 2016
会议地点	中国桂林
摘要	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.
关键词	Hysteresis Adrc Tracking Control
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/11669
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	long cheng
推荐引用方式 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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