Hysteresis compensation and iterative learning-based fractional order sliding mode control for piezoelectric nano motion systems
ZHANG Yang-ming
WU Ming-fan
FANG Jian-yin
YAN Peng
Abstract：This paper proposes an iterative learning-based fractional-order sliding mode control scheme with adaptive hysteresis compensation to address the problem of trajectory tracking for piezoelectric nano motion systems.The Prandtl-Ishlinskii model is introduced to describe the hysteresis nonlinearity of the piezoelectric nano motion system.A new adaptive filtering identification method is employed to identify its parameters,and an inverse controller is designed to compensate the hysteresis nonlinearity of the piezoelectric nano motion system.Both external disturbances and unmodeled dynamics are treated as a lumped disturbance,an observer with iterative leaning is developed to estimate and compensate the total disturbance.On this basis,the hyperbolic tangent function is introduced to construct a fractional-order sliding mode controller.The global convergence of the parameter estimation error and the stability of the closed-loop system are proved by the Lyapunov method.Finally,the fractional-order iterative learning sliding mode control algorithm is applied to the piezoelectric nano motion system.The experimental results are provided to verify that the proposed algorithm has strong anti-disturbance ability and high tracking accuracy.
Keywords：piezoelectric actuatorfractional orderhysteresis compensationiterative learning disturbance observersliding mode control
Publication Date：2025-06-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 1075-1082 )