In this paper, we introduce an adaptive control methodology of piezoelectric actuators for microelectromechanical manipulation mechanisms. The adaptive control strategy capitalizes on the piezoelectric actuator's inverse model to design an adaptive controller using a Lyapunov-based adaptation technique. The controller achieves high precision motion tracking under hysteresis nonlinearities, parametric uncertainties, and external disturbance. Results for different situations highlight the performance of the proposed controller in compensating for hysteresis effect.

Additional Metadata
Persistent URL dx.doi.org/10.1109/ROSE.2011.6058521
Conference 2011 9th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2011
Citation
Chaoui, H, & Sicard, P. (Pierre). (2011). Adaptive displacement tracking control of piezo-actuated manipulation mechanisms with hysteresis and disturbance. In ROSE 2011 - IEEE International Symposium on Robotic and Sensors Environments, Proceedings (pp. 49–53). doi:10.1109/ROSE.2011.6058521