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		Lei LIU,Kok Kiong TAN,Andi Sudjana PUTRA,Tong Heng LEE.[en_title][J].Control Theory and Technology,2010,8(2):176~180.[Copy]

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LeiLIU,KokKiongTAN,AndiSudjanaPUTRA,TongHengLEE
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DOI：10.1007/s11768-010-0004-0

Received:January 07, 2010Revised:January 11, 2010

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Compensation of hysteresis in piezoelectric actuator with iterative learning control

Lei LIU,Kok Kiong TAN,Andi Sudjana PUTRA,Tong Heng LEE

(National University of Singapore)

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.

Key words: Iterative learning control Hysteresis Piezoelectric actuator Stability analysis