Current-Cycle Iterative Learning Control for High-Precision Position Tracking of Piezoelectric Actuator System via Active Disturbance Rejection Control for Hysteresis Compensation

Abstract

As a typical smart structure, the piezoelectric actuator (PEA) is an essential constituent component in piezoelectric-driven positioning stages. Nevertheless, the positioning precision is severely degraded by its innate rate-dependent hysteretic nonlinearity. In this article, an innovative control method which combines active disturbance rejection control (ADRC) and current-cycle iterative learning control (CILC) is proposed by constructing PEA as a second-order disturbance-based structure to handle both the hysteretic nonlinearities and dynamic uncertainties of PEA. The proposed method differs from the prevalent model-inverse solution in hysteresis compensation, where the control performance of the latter relies extremely on the accurateness of the hysteretic model while the former does not require a mathematical model of hysteresis since it is considered as a general disturbance and eliminated. Compared with the existing hysteresis compensation via pure ADRC method, the proposed method has improved robustness by incorporating an additional Iterative learning control (ILC) loop to ADRC. Comparative experimentations are executed on a PEA system and results imply that the proposed approach has better control performance than pure proportional-integral control and ADRC.