Modeling and control of a piezoelectric actuator driven system with asymmetric hysteresis

This study describes the high-precision positioning control of a system with asymmetric hysteresis. A switching system concept is adopted to describe the Preisach-type hysteresis, and a systematic modeling procedure is established to obtain the parameters of the system. A piezoelectric actuator system driven by a voltage amplifier is used to verify the modeling accuracy. A control structure, comprising a feedforward controller and a PD-type feedback controller, is used to realize the high-precision positioning control of the piezoelectric actuator driven stage. To enhance tracking control, a high-frequency modified term is incorporated into the hysteresis model. The experimental results confirm that the addition of this modified term reduces the tracking error and prevents the controlling energy from being saturated.