Modeling and single neuron adaptive PID control of flexible piezoelectric cantilever beam

Hysteresis nonlinearity in the piezoelectric material could decrease control performance of piezoelectric cantilever beam. A control strategy that combines feedforward inverse compensator with single neuron adaptive PID controller is proposed in this paper. A Hammerstein dynamic hysteresis model for flexible piezoelectric cantilever beam is given. In order to improve the control accuracy, a single neuron adaptive PID controller is incorporated with feedforward compensator. Real-time trajectory tracking control experimental results show that compared with the controller without feedforward compensator, tracking accuracy is greatly improved by combining the feedback loop with hysteresis compensation in the feedforward loop.