Classical Bouc-Wen Hysteresis Modeling and Force Control of a Piezoelectric Robotic Hand Manipulating a Deformable Object

This letter focuses on the modeling and control of a piezoelectric actuator that is designed to manipulate objects. This letter considers both the non-linearity caused by the hysteresis of the actuator and the deformation of the object being manipulated. To approximate the hysteresis, a classical Bouc-Wen model is used. To stabilize the force-tracking error, we propose a novel control approach combining three advanced methodologies: an output-feedback method based on a nonlinear observer, a Barrier-Lyapunov function design, and bounded control based on saturation functions. Combining these three powerful techniques produces a bounded and highly robust controller that can effectively reject aggressive disturbances while maintaining the tracking error inside a predefined set. Under such a scenario, it is demonstrated that the equilibrium point of the closed-loop system is asymptotically stable. The effectiveness of the proposed control method is validated through extensive numerical simulations.