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.

Date Published: 13 May 2016
PDF: 12 pages
Proc. SPIE 9859, Sensors for Next-Generation Robotics III, 98590D (13 May 2016); doi: 10.1117/12.2229008

Published in SPIE Proceedings Vol. 9859:
Sensors for Next-Generation Robotics III
Dan Popa; Muthu B. J. Wijesundara, Editor(s)