Precise tracking control of piezo actuator using sliding mode control with feedforward compensation

In this paper, tracking control problem of piezoelectric actuator because of hysteresis effect is considered. The controller consists of two part: feedforward control part and sliding mode control part. The feedforward controller eliminates hysteresis nonlinear term and sliding mode controller is added to have robustness for the rest hysteresis avoidable caused by feedforward compensation and parameter variation. Through simulation and experiment, it is found that the tracking error is improved using proposed method.