Control of a Piezoelectric Actuator Using a Bounded-Adaptive Backstepping Scheme and Sliding-Mode Observer

International audienceThe present paper deals with the motion control of a piezoelectric cantilevered actuator. The motion behavior of the piezoelectric cantilever is affected by two main parasitic effects, the hysteresis and creep effects, which are considered as a generalized disturbance.Additionally, cantilevers's position is the only available measured state. The latter operational scenario reveals that the trajectory-tracking or regulation problem is a non-obvious task. Prior to the controller design, we have focused on the estimation of the velocity using a sliding-mode observer (SMO) in order to avoid the numerical derivative. On the other hand, the control design takes into account the limited response of the control input (bounded states) and it is obtained using the Backstepping framework assuring the stability of origin. Numerical simulations are _rst presented to verify the efficiency of the observer and controller algorithm, showing that the control objective is fulfilled. The experimental tests were carried out to validate and evaluated the control strategy