A Stable Factor Approach of Input-Output-Based Sliding-Mode Control for Piezoelectric Actuators with Non-minimum Phase Property

摘要

This paper presents a new stable factor approach of input-output-based discrete-time sliding-mode control (IODSMC-SF), which dedicates to piezoelectric actuators (PEAs) with non-minimum phase (NMP) property. This control approach is developed based on a linear discrete-time input-output nominal model. A stable factor, which ensures stable and accurate motion control for PEAs with NMP nature, is designed, analyzed and introduced into the controller. One unique feature of the proposed controller lies in that it ensures stable and precision motion control for PEAs with NMP property. The construction of either a hysteresis model or a state observer is not needed. Moreover, the proposed controller releases the burden on parameter selection since only a stable factor is needed to stabilize the NMP system and this factor can be obtained by optimization algorithm. Experimental results with a piezoelectric actuator are presented to demonstrate the effectiveness of the proposed controller.