Hysteresis compensation and high-performance tracking control of piezoelectric actuators

This paper presents a repetitive control-based independent design method for high-performance tracking control of piezoelectric actuators. This work applies an inverse Prandtl-Ishlinskii hysteresis model as a non-linear feedforward compensator to compensate for the hysteresis effect, and validates its inverse model by open-loop compensation. To achieve precision tracking control, the current study designs and implements the feedback control using a prototype repetitive control algorithm, integrating the inverse linear plant model-based feedforward compensation and hysteresis compensation methods to further reduce tracking error. Experimental results and performance analysis demonstrate that using the control structure further improves tracking performance.