Fuzzy Extended State Observer for Robust Sliding Mode Control of Piezoelectric Actuators
Bibliographic record
Abstract
Piezoelectric actuators are widely used in micro and nano-positioning systems for accurate movement. However, they exhibit some nonlinearities, particularly hysteresis, which makes precise control rather challenging. Many methods are available in the literature to compensate for the hysteresis effect in piezoelectric actuators, but often a model of the actuator is required for this purpose. Identification of such a model is challenging too. In this paper, we propose using a robust observer-based controller for precise motion tracking of piezoelectric actuators without the need for a hysteresis model. The controller consists of a fuzzy extended state observer (FESO) to estimate the hysteresis and other nonlinearities, as well as model uncertainties and external disturbances. Subsequently, a robust sliding-mode controller is designed and added to the framework. Joint stability analysis guarantees the stability and tracking performance of the proposed combined controller. Simulation and experimental results confirm the performance of the proposed controller compared to some other techniques.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".