Finite-Time Extended State Observer and Hysteresis Compensation Based Anti-Disturbance Control Design for Piezoelectric Actuator Systems

This paper proposes a finite-time extended state observer (FTESO) and hysteresis compensation based anti-disturbance control design for piezoelectric actuator systems. Firstly, an inverse multiplicative structure is constructed to offset the hysteresis nonlinearity for linearizing such a nonlinear system dynamics to simplify the control design. An FTESO is then designed to estimate the total disturbance consisting of the hysteresis compensation error, unmodeled dynamics and disturbance in a finite time. Finite-time convergence analysis of the estimation error along with the bounded convergence of the resulting closed-loop system is carried out based on the homogeneity theorem and Lyapunov stability theory. Finally, an illustrative example is used to demonstrate the effectiveness and merit of the proposed method.