Piezoelectric actuators have been widely applied in micro- and nano-positioning devices, but the hysteresis nonlinear property limits the performance. An adaptive control is designed for hysteresis compensation in piezoelectric actuator. The Prandtl-Ishlinkii model is proposed to describe the inverse of piezoelectric actuator. The weight parameters of Prandtl-Ishlinkii model is updated on real-time control. Experimental results show that the proposed control method can effectively update the weight parameters for real-time control.
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