Feedforward control for piezoelectric actuator using inverse Prandtl-Ishlinskii model and particle swarm optimization

Abstract

In this paper feedforward controller is designed to eliminate nonlinear hysteresis behaviors of a piezoelectric stack actuator (PSA) driven system. The control design is based on inverse Prandtl-Ishlinskii (P-I) hysteresis model identified using particle swarm optimization (PSO) technique. Based on the identified P-I model, both the inverse P-I hysteresis model and feedforward controller can be determined. Experimental results obtained using the inverse P-I feedforward control are compared with its counterpart using hysteresis estimate and the identified Bouc-Wen model. Effectiveness of the proposed feedforward control scheme is demonstrated. To further improve control performance feedback compensation using traditional PID scheme is adopted to integrate with the feedforward controller.