Dither control for Dahl model based hysteresis compensation

Abstract

This paper proposes a new control scheme to neutralize hysteresis effects targeted for precision positioning of piezo electrically actuated micro-manipulators. The proposed strategy employs an inverse Dahl model based feed-forward compensation in combination with a cascaded voltage and displacement dither. The effectiveness of the presented controller is demonstrated by several simulation studies on an X-Y micromanipulator system. The notion of “stochastic resonance” is introduced to obtain the intensity value of the optimal Gaussian dither. Extensive numerical simulations confirm the efficacy of the introduced control scheme with respect to reduced tracking error in micro-nano positioning. Moreover, due to its computationally simple structure, the proposed formulation can easily be extended for higher order control methodologies targeted for improved piezoelectric actuation.