11 April 2017 Surrogate model development and feedforward control implementation for PZT bimorph actuators employed for robobee
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Abstract
In this paper, we discuss the development of models for PZT bimorph actuators used to power micro-air vehicles including Robobee. Due to the highly dynamic drive regimes required for the actuators, models must quantify the nonlinear, hysteretic, and rate-dependent behavior inherent to PZT. We first employ the homogenized energy model (HEM) framework to model the actuator dynamics. This provides a comprehensive model, which can be inverted and implemented for certain control regimes. We additionally discuss the development of data-driven models and focus on the implementation of a model based on a dynamic mode decomposition (DMD). Finally, we detail attributes of both approaches for uncertainty quantification and real-time control implementation.
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Nikolas Bravo, Nikolas Bravo, Ralph C. Smith, Ralph C. Smith, John Crews, John Crews, } "Surrogate model development and feedforward control implementation for PZT bimorph actuators employed for robobee", Proc. SPIE 10165, Behavior and Mechanics of Multifunctional Materials and Composites 2017, 101650A (11 April 2017); doi: 10.1117/12.2259948; https://doi.org/10.1117/12.2259948
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