Piezoelectric stick-slip driver tracking control method based on asymmetric flexible hinge

The invention discloses a piezoelectric stick-slip driver tracking control method based on an asymmetric flexible hinge. The method comprises the following steps: firstly, establishing an approximate second-order equation of a piezoelectric stick-slip driver; then, integral sliding mode control is designed based on the model, hysteresis nonlinearity and model uncertainty of a T-S fuzzy neural network approximation system are utilized, approximation errors and external interference are estimated through a Luenberger observer, and stability of the controller is proved by using a Lyapunov method; and finally, the advantages of the integral sliding mode controller based on the T-S fuzzy neural network and the Luenberger observer are proved through a simulation experiment, and high-precision control of the piezoelectric stick-slip driver is realized. 一种基于非对称柔性铰链的压电粘滑驱动器跟踪控制方法，本方法首先建立压电粘滑驱动器的近似二阶方程；然后，基于该模型设计了积分滑模控制，并利用T-S模糊神经网络逼近系统的迟滞非线性和模型不确定性，通过龙伯格观测器估计了逼近误差和外部干扰，使用Lyapunov方法证明了该控制器的稳定性；最后，通过仿真实验证明了基于T-S模糊神经网络和龙