Comptes Rendus
no. 1
Disturbance rejection-based robust control for micropositioning of piezoelectric actuators
Hamed Ghafarirad1 ; Seyed Mehdi Rezaei1  ; Mohammad Zareinejad2 ; Ahmed A.D. Sarhan3, 4
1 Mechanical Engineering Department, Amirkabir University of Technology, Iran
2 New Technologies Research Centre, Amirkabir University of Technology, Iran
3 Micro Mechanism Research Group (MMR), Center of Advanced Manufacturing and Material Processing, Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, 50603, Kuala Lumpur, Malaysia
4 Department of Mechanical Engineering, Faculty of Engineering, Assiut University, Assiut, 71516, Egypt
Comptes Rendus. Mécanique, Volume 342 (2014) no. 1, pp. 32-45.

Precise control of piezoelectric actuators used in micropositioning applications is strongly under the effect of internal and external disturbances. Undesired external forces, unmodelled dynamics, parameter uncertainties, time variation of parameters and hysteresis are some sources of disturbances. These effects not only degrade the performance efficiency, but also may lead to closed-loop instability. Several works have investigated the positioning accuracy for constant and slow time-varying disturbances. The main concern is controlling performance and also the presence of time-varying perturbations. Considering unknown source and magnitude of disturbances, the estimation of the existing disturbances would be inevitable. In this paper, a compound disturbance observer-based robust control is developed to achieve precise positioning in the presence of time-varying disturbances. In addition, a modified disturbance observer is proposed to remedy the effect of switching behaviour in the case of slow time variations. A modified Prandtl–Ishlinskii (PI) operator and its inverse are utilized for both identification and real-time compensation of the hysteresis effect. Experimental results depict that the proposed approach achieves precise micropositioning in the presence of estimated disturbances.

Reçu le :
Accepté le :
Publié le :
DOI : 10.1016/j.crme.2013.11.003
Mots clés : Piezoelectric actuator, Hysteresis, Time-varying disturbance, Disturbance observer, Robust control
Hamed Ghafarirad 1 ; Seyed Mehdi Rezaei 1 ; Mohammad Zareinejad 2 ; Ahmed A.D. Sarhan 3, 4

1 Mechanical Engineering Department, Amirkabir University of Technology, Iran
2 New Technologies Research Centre, Amirkabir University of Technology, Iran
3 Micro Mechanism Research Group (MMR), Center of Advanced Manufacturing and Material Processing, Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, 50603, Kuala Lumpur, Malaysia
4 Department of Mechanical Engineering, Faculty of Engineering, Assiut University, Assiut, 71516, Egypt 
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Hamed Ghafarirad; Seyed Mehdi Rezaei; Mohammad Zareinejad; Ahmed A.D. Sarhan. Disturbance rejection-based robust control for micropositioning of piezoelectric actuators. Comptes Rendus. Mécanique, Volume 342 (2014) no. 1, pp. 32-45. doi : 10.1016/j.crme.2013.11.003. https://comptes-rendus.academie-sciences.fr/mecanique/articles/10.1016/j.crme.2013.11.003/

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