Hybrid-MEM-Element Feedforward: With Application to Hysteretic Piezoelectric Actuators

摘要

Hysteresis phenomena can significantly deteriorate the performance when performing servo tasks with piezo-electric actuators. The aim of this paper is to model this non-linear hysteresis effect using a memory element, in particular a MEM-element, and exploit this model to develop a feedforward controller. A one-to-one mapping is established, leading to both a systematic data-driven learning approach of a hybrid-MEM-element capturing the hysteresis phenomena and a unique inverse allowing for an intuitive design of the feedforward controller. The developed approach is experimentally validated on a piezoelectric actuator, revealing a significant performance improvement.