An Active Disturbance Rejection Controller with Hysteresis Compensation for Piezoelectric Actuators

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	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)
	2016
会议名称	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
关键词	hysteresis ADRC tracking control
通讯作者	long cheng
英文摘要	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.
会议录	2016 12th World Congress on Intelligent Control and Automation
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/11669]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
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]. 见:2016 12th World Congress on Intelligent Control and Automation. 中国桂林. June 12-15, 2016.