Tracking position control of piezoelectric actuators for periodic reference inputs

The hysteresis characteristic is one of the major setbacks in precise tracking position control of piezoelectric actuators, In this paper. a position control method for a piezoelectric actuator is presented. The controller is based on PID control method augmented with feedback linearization loop. The feedback linearization loop uses a plant model drawn from the Maxwell slip model. The control strategy is then further extended to include a repetitive control algorithm for tracking periodic inputs, Experiments were performed on a 2-axis linear positioner driven by piezoelectric actuators. The experimental results show that the tracking performance is noticeably improved by augmenting a PID controller with both feedback linearization loop and a repetitive controller. (C) 2002 Elsevier Science Ltd. All rights reserved.