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1、Proceedingsofthe2006IEEEInternationalConferenceonRoboticsandAutomationOrlando,Florida-May2006RobustMotionTrackingControlofPiezoelectricActuationSystemsHweeChooLiaw,DennyOetomo,BijanShirinzadehGurselAliciRoboticsandMechatronicsResearchLaboratorySchoolofMechanical,Materials,DepartmentofMechanica
2、lEngineeringandMechatronicEngineeringMonashUniversity,Clayton,VIC3800,AustraliaUniversityofWollongong,NSW2522,Australia{hwee.liaw,denny.oetomo,bijan.shirinzadeh}@eng.monash.edu.augursel@uow.edu.auAbstract—Thispaperproposesarobustcontrolmethodologydifferentialmodelofhysteresisanditsidentificatio
3、n[7],andforpiezoelectricactuationsystemstotrackspecifiedmotiontra-achargesteeringmodelthatbypassesthehystereticproblemjectories.ThisismotivatedbythesearchforaneffectivecontrolcoupledwithacomprehensivemodelofmechanicaldynamicsstrategytodealwiththeproblemofnonlinearbehaviourintheofthePEA[8].piezo
4、electricactuationsystems.ThebasicconceptassociatedwiththisapproachliesinthespecificationofatargetperformanceOntheotherhand,appropriatecontrolstrategiescanbeandtheformulationofarobustcontrolschemeforthesystemformulatedtotakethenon-linearitiesintoaccounttoachievetoensuretheconvergenceofthepositio
5、ntrackingerrortohigh-precisionpositioningofthePEAsystems.Recentex-zerointhepresenceofparametricuncertaintiesandhysteresisamplesincludeacombinationofafeed-forwardmodelineffectinclusiveofotherun-modelleddisturbances.Stabilityfeedbackcontrolwithaninputshaper[9],anadaptiveback-ofthecontrolsystemis
6、proventheoreticallyandtherobustcontrolmethodologyisdemonstratedtopossessapromisingsteppingapproach[10],aPID-basedcontrolwithiterativetrackingabilitythroughthecontrolexperiments.Implementationlearningplusadisturbanceobserver[11],amodel-basedofthecontrollawrequiresonlyaknowledgeoftheestimatedope
7、n-loopcontrol[12],anonlinearobserver-basedvariableparametersandtheircorrespondingboundsaswellasthestructurecontrol[13],andaslidingmodecontrolaugmentedboundofthehysteresiseffectincludingdisturbances.Beingwithaninversehysteresismodel[14].
