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

Yasser Al Hamidi; Micky Rakotondrabe

doi:10.1117/12.2229008

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

Yasser Al Hamidi, Micky Rakotondrabe

Author Affiliations +

Proceedings Volume 9859, Sensors for Next-Generation Robotics III; 98590D (2016) https://doi.org/10.1117/12.2229008
Event: SPIE Commercial + Scientific Sensing and Imaging, 2016, Baltimore, MD, United States

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.

Citation Download Citation

Yasser Al Hamidi and 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); https://doi.org/10.1117/12.2229008

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