Compensation of hysteresis in piezoelectric actuator with iterative learning control |
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| Authors: | Lei LIU Kok Kiong TAN Andi Sudjana PUTRA and Tong Heng LEE |
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| Affiliation: | 1. Graduate School for Integrative Sciences and Engineering,National University of Singapore,Singapore 117576;Department of Electrical and Computer Engineering,National University of Singapore,Singapore 117576
2. Department of Electrical and Computer Engineering,National University of Singapore,Singapore 117576 |
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| Abstract: | This paper presents the application of iterative learning control (ILC) to compensate hysteresis in a piezoelectric
actuator. The proposed controller is a hybrid of proportional-integral-differential (PID) control, whose main function
is for trajectory tracking, and a chatter-based ILC, whose main function is for hysteresis compensation. Stability analysis
of the proposed ILC is presented, with the PID included in the dynamic of the piezoelectric actuator. The performance
of the proposed controller is analysed through simulation and verified with experiment with a piezoelectric actuator. |
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| Keywords: | Iterative learning control Hysteresis Piezoelectric actuator Stability analysis |
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