Title: Adaptive vibration control of piezoelectric actuator based flexible arm with unknown and unmeasurable disturbances

Authors: Mingcong Deng, Akira Inoue

Addresses: Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-Naka, 700-8530, Okayama, Japan. ' Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-Naka, 700-8530, Okayama, Japan

Abstract: This paper presents an adaptive control of a piezoelectric actuator based flexible arm with unknown and unmeasurable disturbances. In real systems with external disturbances and dynamics of actuator, the vibration effect due to the inherent elastic deformation of flexible arm makes the satisfactory control results unachievable. To reduce the vibration effect and to consider the actuator dynamics based on an external disturbance model with consideration of dynamics of a piezoelectric actuator, adaptive vibration control experimental system is designed, where the controller is based on Youla-Kucera parametrisation and right coprime factorisation. Robust analysis of the proposed control system is also shown. As a practical appeal, simulation and experimental results are shown to support the proposal on the control system design.

Keywords: robustness; coprime factorisation; adaptive control; vibration control; disturbances; flexible arm; piezoelectric actuators; elastic deformation; actuator dynamics; modelling; simulation; flexible robots; robot arms; robot control; semiconductor manufacturing.

DOI: 10.1504/IJMIC.2009.024461

International Journal of Modelling, Identification and Control, 2009 Vol.6 No.3, pp.215 - 221

Published online: 05 Apr 2009 *

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