Simulation-based LuGre modelling and voltage-scheduled control of low-voltage stick-slip piezoelectric actuators

Abstract Piezoelectric stick-slip actuators are widely used in precision positioning applications, including astronomy, microscopy, and micro-manipulation systems. In this simulation-based study, a low-voltage stick-slip piezoelectric actuator is modelled in MATLAB/Simulink using the LuGre friction model to describe the dynamic friction behaviour at the contact interface. The actuator response is first evaluated in terms of voltage- and frequency-dependent step size and velocity, as these parameters are important for understanding the motion behaviour and designing an effective control strategy. A voltage scheduling scheme is then developed to adjust the driving voltage according to the position error, allowing coarse motion at larger errors and finer positioning near the target. The model is further extended to a three-actuator triangular configuration, where the user-level input is interpreted in terms of desired pitch and roll, and then converted into individual actuator displacement commands. In addition, a discrete move-measure-correct strategy is discussed as a reduced sensing-duty-cycle approach for applications where continuous displacement measurement may not be feasible. The proposed simulation framework demonstrates the feasibility of LuGre-based modelling and voltage-scheduled control for low-voltage stick-slip actuator positioning, and provides a basis for future experimental validation in scalable precision positioning systems.