Multi-mode time-varying sliding mode control of Piezoceramic actuator based on inverse compensation

In order to reduce the hysteresis of piezoceramic actuator (PA), a multi-mode time-varying sliding mode control (TVSMC) of the PA based on the inverse compensation was desiged to control the PA. Frist, an inverse preisach model was established to compensate the hysteresis. Then a sliding mode control (SMC) has been used to control the PA after the compensation. In order to eliminates the reaching phase of the SMC, a time-varying sliding surface has been choosed. To eliminate static error and control the overshoot, two SMC controllers have been designed. And the two controllers form a Multi-mode controller. The switching time of the Multi-mode controller obtained through a fuzzy controller. Also, the switch fuction of the SMC has been replaced by the sliding surface. The experimental results show that the designed control strategy eliminates the reaching phase and the chattering of the SMC; Smoothly switching has been implemented between two SMC controllers; The precision has been improved, and the average absolute error is 0.0135 μm.