An ARX-Based PID-Sliding Mode Control on Velocity Tracking Control of a Stick-Slip Pi-ezoelectric-Driven Actuator
Read full paper at: http://www.scirp.org/journal/PaperInformation.aspx?PaperID=53928#.VNxhVyzQrzE Author(s) Y. Cao , X. B. Chen Affiliation(s) Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, Canada . ABSTRACT Piezoelectric-driven stick slip actuators have been drawn more and more attention in the nano- positioning application due to the high accuracy and theoretical unlimited displacement. However, the hysteresis of piezoelectric actuator (PEA) and the nonlinear friction force between the end- effector and the stage make control of piezoelectric-driven stick slip actuator challenge. This paper presents the development of an autoregressive exogenous (ARX)-based proportional-integral-derive (PID)-sliding mode control (SMC) for the velocity tracking control of the piezoelectric-driven stick slip actuator. Stability is guaranteed by rigorously choosing the appropriate PID parameters and the zero steady stat...