Chen Jie, Ni Lei, Liao Xuan, Wang Geng, Zhang Lanqiang, Yao Na, Li Yijun, Aphale Sumeet S
Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010, China; Tianfu Institute of Research and Innovation, Southwest University of Science and Technology, Chengdu 610299, China.
Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010, China; Tianfu Institute of Research and Innovation, Southwest University of Science and Technology, Chengdu 610299, China; Institute of Electronics and Information Industry Technology of Kash, Kash, Xinjiang 844000, China.
ISA Trans. 2025 Oct;165:384-394. doi: 10.1016/j.isatra.2025.06.022. Epub 2025 Jun 18.
The nonlinearity of piezo-actuated positioning platforms significantly impacts their performance in high-precision applications. In this work a dynamic model of piezoelectric platform was developed firstly with the asymmetric Bouc-Wen model. Next, a terminal sliding mode observer with the super-twisting mechanism was designed to accurately estimate the state of the system. Then, a novel control strategy named Hysteresis Observer Enhanced Integral Terminal Sliding Mode Controller (HO-ITSMC) was proposed to achieve precise displacement tracking. Its stability is theoretically proved by the Lyapunov theorem. A key feature of this controller lies in its ability to drive the state of the system into zero in finite time, regardless of the initial state. Extensive experiments have thoroughly validated the effectiveness of the proposed control method, demonstrating its superior precision-tracking performance compared to traditional controllers.
压电驱动定位平台的非线性对其在高精度应用中的性能有显著影响。在这项工作中，首先利用非对称布赫-温模型建立了压电平台的动态模型。接下来，设计了一种具有超扭曲机制的终端滑模观测器，以精确估计系统状态。然后，提出了一种名为迟滞观测器增强积分终端滑模控制器（HO-ITSMC）的新型控制策略，以实现精确的位移跟踪。通过李雅普诺夫定理从理论上证明了其稳定性。该控制器的一个关键特性在于，无论初始状态如何，它都能够在有限时间内将系统状态驱动到零。大量实验充分验证了所提出控制方法的有效性，表明其与传统控制器相比具有卓越的精确跟踪性能。
