Rate-dependent dynamic modeling and tracking control for piezoelectric hysteresis nonlinear systems

A Hammerstein-based rate-dependent hysteresis nonlinear model is proposed in this paper for the modeling and control of the piezoelectric systems. A Bouc-Wen model and a linear dynamic block are used respectively to describe the hysteresis nonlinearity and the rate-dependent properties. Two control schemes based on the construction of a Bouc-Wen hysteretic compensator are proposed for the piezoelectric nonlinear systems: a PID tracking control scheme with Bouc-Wen feedforward hysteresis compensation and an H_∞ robust control scheme with hysteresis linearization. Experimental results show that these two control strategies are effective for reference signals within the given frequency range. Encouraging tracking performances have been achieved with the relative errors all less than 7%.