Dahl Hysteresis Modeling and Position Control of Piezoelectric Digital Manipulator

The synthesis of a feedback controller based on a hysteresis model is challenging, mainly when the hysteresis is non-symmetric. In this letter, we propose to model a non-symmetric hysteresis of a piezoelectric actuator by using the Dahl model and design a nonlinear feedback controller for the system. For that aim, we exploit the boundedness of the system states to design an extended observer responsible for estimating the part of the system that is observable, including non-modeled terms and exogenous signals. Then, we design active disturbance rejection control that globally asymptotically stabilizes the tracking error. Finally, simulations were carried out to demonstrate the effectiveness of our approach.