13 May 2016 Feedforward and output feedback control of a highly oscillating and nonlinear 2-DOF piezoelectric actuator by using input shaping compensator and a linear quadratic regulator
Author Affiliations +
Abstract
This paper deals with the control of a two degrees of freedom (2-DOF) piezoelectric cantilever actuator which is characterized by badly damped oscillations, hysteresis nonlinearity and cross-couplings. First, a feedforward control scheme based on the zero placement technique is introduced to annihilate the oscillations. Then a disturbance observer and a disturbance compensator are introduced to reduce the effects of low frequencies phenomena (hysteresis and creep) which were approximated by a fictive disturbance. Finally an output feedback scheme based on the linear quadratic regulator is added in order to reduce the cross-couplings effects to improve the tracking performances, and eventually to add robustness. Experiments were carried out and confirm the predicted performances.
© (2016) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Yasser Al Hamidi, Micky Rakotondrabe, "Feedforward and output feedback control of a highly oscillating and nonlinear 2-DOF piezoelectric actuator by using input shaping compensator and a linear quadratic regulator", Proc. SPIE 9859, Sensors for Next-Generation Robotics III, 98590D (13 May 2016); doi: 10.1117/12.2229008; https://doi.org/10.1117/12.2229008
PROCEEDINGS
12 PAGES


SHARE
Back to Top