Modelling and control of a kind of parallel mechanism driven by piezoelectric actuators

We describe a micro-operating mechanism for a human-scale teleoperating system. The Bouc-Wen model was used to describe the hysteresis in piezoelectric actuators and parameters were identified to characterize the hysteresis using a genetic algorithm. To improve he performance of the system, a model reference adaptive controller was designed based on the Lyapunov stability theory. Both numerical simulations and experimental results imply that the controller was effective in eliminating the hysteresis in the piezoelectric actuators.