Hysteresis inverse compensation-based model reference adaptive control for a piezoelectric micro-positioning platform

Piezoelectric micro-positioning (PMP) platform has been widely used in the field of high precision tracking and positioning in recent years. However, the PMP platform has inherent hysteresis non-linearity, and this characteristic poses challenges for high-precision positioning applications. In this paper, a Bouc-Wen (BW) model and a linear dynamic model are connected in series to describe the rate-dependent hysteresis characteristic of the PMP platform, and the cross-mutation-based two-population differential evolution algorithm and the recursive least square method are used to identify the unknown parameters. In order to eliminate the hysteresis non-linearity, a model reference adaptive controller based on inverse compensation is designed, then the stability of the controller is proved by Lyapunov theory. Finally, a series of comparative experiments are carried out on the PMP platform. The experiment results prove that the proposed rate-dependent BW model has a stronger ability to describe the hysteretic non-linearity than the classic BW model. Comparing with the inverse compensation-based controller and inverse compensation-based proportion-integration-differentiation controllers, the hysteresis inverse compensation-based model reference adaptive controller has better control performance.

Automated summary

This paper addresses the issue of hysteresis non-linearity in the Piezoelectric micro-positioning platform, proposing a novel approach combining model and controller which outperforms the classical methods as demonstrated by experiments.