Title :
Experimental results on motion planning and tracking control for a piezoactuated flexible trimorph bender
Author :
Meurer, Thomas ; Thull, Daniel ; Kugi, Andreas
Author_Institution :
Autom. & Control Inst., Tech. Univ. of Vienna, Vienna, Austria
Abstract :
This paper considers the application of the “two-degrees-of-freedom” control concept for the realization of high dynamic trajectory tracking for a multi-layered piezoelectric cantilever which serves as a micro-positioning device. For this, flatness-based motion planning and feedforward control are combined with BIBO-stabilizing output feedback. Experimental results illustrate the high tracking performance in the presence of exogenous disturbances.
Keywords :
cantilevers; control system synthesis; feedback; feedforward; input-output stability; micropositioning; motion control; path planning; piezoelectric actuators; trajectory control; BIBO-stabilizing output feedback; dynamic trajectory tracking; exogenous disturbance; feedforward control; flatness-based motion planning; micropositioning device; multilayered piezoelectric cantilever; piezoactuated flexible trimorph bender; tracking control; two-degrees-of-freedom control; Feedforward neural networks; Mathematical model; Planning; Stability analysis; Tracking; Trajectory; Transfer functions; BIBO-stability; Tracking control; differential flatness; distributed-parameter system; feedforward control; output feedback; piezoelectric cantilever;
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6
