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

fYear

2007

fDate

2-5 July 2007

Firstpage

5587

Lastpage

5594

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2007 European

Conference_Location

Kos

Print_ISBN

978-3-9524173-8-6

Type

conf

Filename

7068840