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In the research about force sensorless bilateral control using piezoelectric cantilever, nonlinearities of piezoelectric constant and creep phenomenon has not been considered in reaction force observer (RFOB). Therefore, there are room for improvement of the performance of force estimation. In this paper, piezoelectric constant and creep phenomenon are modeled based on experimental results and built...
This paper presents a modeling and compensation approach for hysteresis properties in piezoelectric actuators. Nonlinearities due to the hysteresis and creep phenomena inherently exist in the piezoelectric actuator, resulting in the low control performance in positioning and/or tracking accuracy. In this paper, at first, the hysteresis property is mathematically modeled by Prandtl-Ishlinskii model...
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