Sliding mode control of hysteresis of piezoceramic actuator based on inverse Preisach compensation

In order to reduce the nonlinear hysteresis of piezoceramic actuators, a sliding mode control scheme based on Preisach inverse compensation was proposed in this paper. Firstly, an inverse Preisach model of the hysteresis was built by using the sorting & taxis realization method. Then the inverse model was connected in series with the hysteresis of the system to reduce the impact of the nonlinear hysteresis. In consideration of that the hysteresis can't be entirely offseted by the inverse model and there are also many uncertainties in the system, a sliding mode controller with a sub-boundary layer was designed. Finally, to verify the feasibility of the sliding mode controller, a PI controller was presented to compare with the proposed scheme. The experiment results show that the control scheme improves the tracking accuracy of the system, and the average absolute error is 0.0206 μm when tracking is on sinusoidal input. Compared with the PI controller based on the inverse Preisach model, the proposed control scheme has a better adaptability and can offer a good tracking accuracy.