Precise Position Tracking Control With an Improved Transient Performance for a Linear Piezoelectric Ceramic Motor

In this paper, an output feedback position tracking control problem relevant for a linear piezoelectric ceramic motor is studied. The main goals of the control design include achieving extremely high resolution, accuracy, stability, and improved transient performance when system uncertainties, unknown dynamics, and external disturbances act on the system. The proposed control approach is designed in such a way that the implementation of the high-precision micro/nanopositioning is possible. An adaptive sliding-mode-based scheme is adopted to synthesize a robust controller. Stability analysis of the control approach is performed and it is analytically shown that the position tracking error asymptotically converges to zero. The important advantages of this control approach are: 1) designing a controller without the requirement of prior knowledge about uncertainty/disturbance bounds; 2) having a chattering-free control input; and 3) obtaining a fast response without overshoot. The proposed control strategy was experimentally validated and compared to the existing control approaches.