State feedback tracking control of piezoelectric actuator based on an fully-actuated system approach

Abstract To address the challenges of modeling complexity and controller design difficulties caused by the inherent nonlinear hysteresis of piezoelectric actuators (PEA), this paper proposes a state feedback control method based on the Fully Actuated System (FAS) approach. First, from a modeling perspective, the linear dynamic behavior is derived by analyzing the electromechanical and mechanical equations of the PEA, and the Bouc-Wen model is introduced to describe its static hysteresis. These components are connected in series to construct a second-order fully actuated model. Next, the controller is designed following the FAS approach, with a focus on the simplicity of the Direct Parameterization Method. The stability of the proposed controller is rigorously proven. Furthermore, to enhance the system’s robustness under disturbances, the control parameters are optimized through numerical techniques. Finally, experimental results demonstrate that the proposed controller enables high-precision reference tracking and exhibits significant disturbance rejection capability, ensuring stable system performance under complex operating conditions and highlighting clear advantages over conventional control methods.