Constrained adaptive finite-time sliding-mode control for the motion tracking control of piezo-actuated platform with a diminished sensing range

Abstract

Drawing upon the established Bouc–Wen model, this study proposes a funnel-based sliding-mode control for the motion tracking of a piezo-actuated stage platform, which has a diminished sensing range, in order to mitigate the hysteresis nonlinearity present in the piezo-actuated stages. To address the issue of buffeting during the control process, the sign function has been substituted with the sigmoid function. In this study, the Bouc–Wen model is developed and identified through the application of the bat-inspired optimization algorithm. Subsequently, utilizing the developed hysteresis model, a constrained first-order sliding-mode control approach is proposed, featuring a novel reaching law designed to mitigate the hysteresis nonlinearity and attain high-precision tracking control for the piezo-actuated platform. Furthermore, this approach is utilized to produce a smooth control signal and mitigate the chattering problem, which refers to a situation where the output variables of the system are not surpassed. The simulation outcomes of the constrained sliding-mode controller demonstrate that the system achieves stabilization and produces a smooth control signal while adhering to the state constraints.