© The Institution of Engineering and Technology
The piezoelectrically actuated system has non-linear and time-varying behaviour, hence it is difficult to establish an accurate dynamic model for a model-based sliding-mode control design. In this study, a model-free adaptive sliding controller is proposed to control the piezoelectrically actuated system. This control strategy uses the functional approximation (FA) technique to establish the unknown function for releasing the model-based requirement of the sliding-mode control. In addition, a fuzzy scheme with online learning ability is introduced to compensate the FA error for improving the control performance and reducing the implementation difficulty. The important advantages of this approach are to achieve the sliding-mode controller design without the system dynamic model requirement and release the trial-and-error work of selecting approximation function. The update laws for the coefficients of the Fourier series functions and the fuzzy tuning parameters are derived from a Lyapunov function to guarantee the control system stability. This proposed controller is implemented on a piezoelectrically actuated X–Y table. To verify the dynamic performance improvement of inducing a fuzzy compensation in this model-free controller, the dynamic responses of the proposed controller are compared with those of the adaptive sliding controller without fuzzy compensation.
References
-
-
1)
-
J.J. Tzen ,
S.L. Jeng ,
W.H. Chieng
.
Modeling of piezoelectric actuator for compensation and controller design.
Prec. Eng.
,
70 -
86
-
2)
-
G. Song ,
J. Zhao ,
X. Zhou ,
J. Alexis De Abreu-García
.
Tracking control of a piezoceramic actuator with hysteresis compensation using inverse Preisach model.
IEEE Trans. Mechatronics
,
198 -
209
-
3)
-
H.C. Liaw ,
B. Shirinzadeh
.
Robust generalized impedance control of piezo-actuated flexure-based four-bar mechanisms for micro/nano manipulation.
Sens. Actuators A, Phys.
,
443 -
453
-
4)
-
S.J. Huang ,
H.Y. Chen
.
Adaptive sliding controller with self-tuning fuzzy compensation for vehicle suspension control.
Mechatronics
,
607 -
622
-
5)
-
S. Bashash ,
N. Jalili
.
Robust multiple frequency trajectory tracking control of piezoelectrically driven micro/nanopositioning systems.
IEEE Trans. Control Syst. Technol.
,
867 -
878
-
6)
-
W.F. Xie ,
J. Fu ,
H. Yao ,
C.Y. Su
.
Neural network-based adaptive control of piezoelectric actuators with unknown hysteresis.
Int. J. Adapt. Control Signal Process.
,
30 -
54
-
7)
-
R. Palm
.
Robust control by fuzzy sliding mode.
Automatica
,
1429 -
1437
-
8)
-
H.C. Liaw ,
B. Shirinzadeh ,
J. Smith
.
Robust motion tracking control of piezo-driven flexure-based four-bar mechanism for micro-nano manipulation.
Mechatronics
,
111 -
120
-
9)
-
K.S. Narendra ,
A.M. Annaswamy
.
(1989)
Stable adaptive systems.
-
10)
-
H. Lee ,
E. Kim ,
H.J. Kang ,
M. Park
.
A new sliding-mode control with fuzzy boundary layer.
Fuzzy Sets Syst.
,
135 -
143
-
11)
-
S.B. Choi ,
H.K. Kim ,
S.C. Lim ,
Y.P. Park
.
Position tracking control of an optical pick-up device using piezoceramic actuator.
Mechatronics
,
691 -
705
-
12)
-
H.C. Liaw ,
B. Shirinzadeh ,
J. Smith
.
Robust neural network motion tracking control of piezoelectric actuation systems for micro/nanomanipulation.
IEEE Trans. Neural Netw.
,
356 -
367
-
13)
-
F.J. Lin ,
H.J. Shieh ,
P.K. Huang
.
Adaptive wavelet neural network control with hysteresis estimation for piezo-positioning mechanism.
IEEE Trans. Neural Netw.
,
432 -
444
-
14)
-
H.Y. Chen ,
S.J. Huang
.
A new model-free adaptive sliding controller for active suspension system.
Int. J. Syst. Sci.
,
57 -
69
-
15)
-
C.J. Lin ,
S.R. Yang
.
Precise positioning of piezo-actuated stages using hysteresis-observer based control.
Mechatronics
,
417 -
426
-
16)
-
K.S. Narendra ,
A.M. Annaswamy
.
A new adaptive law for robust adaptation without persistent excitation.
IEEE Trans. Autom. Control
,
134 -
145
-
17)
-
A.C. Huang ,
Y.S. Kuo
.
Sliding control of nonlinear systems containing time-varying uncertainties with unknown bounds.
Int. J. Control
,
252 -
264
-
18)
-
T. Chang ,
X. Sun
.
Analysis and control of monolithic piezoelectric nano-actuator.
IEEE Trans. Control Syst. Technol.
,
69 -
75
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2009.0223
Related content
content/journals/10.1049/iet-cta.2009.0223
pub_keyword,iet_inspecKeyword,pub_concept
6
6