Model-free data driven control for trajectory tracking of an amplified piezoelectric actuator

Muhammad Shafiq*, Ashraf Saleem, Mostefa Mesbah

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)


Micro/nanopositioning systems commonly use piezoelectric actuators due to their high stiffness, fast response and ultra-high precision. However, three main factors affect their tracking performance, namely hysteresis, creep, and structural vibrations. To overcome these limitations, this paper proposes a new combined feedback and feedforward control strategy. Unlike most existing control algorithms for micro/nanopositioning systems, the new controller is a model-free learning-based capable of smoothly tracking continuous reference signals. It is further endowed with an ability to prevent fallacious learning associated with sensor noise and reference signal discontinuities. The paper also provides complete proofs for the convergence of the tracking error and boundedness of the control signals. Experimental trajectory tracking results obtained using the proposed controller applied on a commercially available amplified piezoelectric actuator verify the theoretical findings.

Original languageEnglish
Pages (from-to)27-35
Number of pages9
JournalSensors and Actuators, A: Physical
Publication statusPublished - Aug 15 2018


  • Data-driven control
  • Micro/nanopositioning actuator
  • Model-free control
  • Piezoelectric actuator
  • Trajectory tracking

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Instrumentation
  • Condensed Matter Physics
  • Surfaces, Coatings and Films
  • Metals and Alloys
  • Electrical and Electronic Engineering


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