Broadband modeling and precise control of piezoelectric sensing-actuating system for dynamic force output

This paper presents a comprehensive modeling and control method of piezoelectric sensing-actuating system for precise dynamic force output. The complex dynamic behavior over broadband frequencies are modeled by employing multi-field modeling method. Low frequency sensor dynamics and broadband hysteretic dynamics are accurately described by using the established model. One robust repetitive controller, by synthesizing the robust H∞ controller, the repetitive controller and the hysteresis compensator, is proposed for precise dynamic force output. The low frequency sensor dynamics and the inversion error of Bouc–Wen model are both regarded as uncertainty modules in the robust H∞ controller design. The repetitive controller and hysteresis compensator are further employed to enhance the H∞ control performance. Finally, the effectiveness of the proposed modeling and control approaches is validated by using simulation and experimental studies.