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Sliding Mode Control Based Piezoelectric Actuator Control
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| Author(s) |
Asif Sabanovic, Khalid Abidi, Serhat Yesilyurt |
| Abstract |
In this paper a method for piezoelectric stack actuator
control is proposed. In addition a brief discussion about the
usage of the same methods for estimation of external force
acting to the actuator in contact with environment is made. The
method uses sliding mode framework to design both the
observer and the controller based on an electromechanical
lumped model of the piezoelectric actuator. Furthermore, using
a nonlinear differential equation the internal hysteresis
disturbance is removed from the total disturbance in an attempt
to estimate the external force acting on the actuator. It is then
possible to use this external force estimate as a means of force
control of the actuator. Simulation and experiments are
compared for validating the disturbance and external force
estimation technique. Some experiments that incorporate
disturbance compensation in a closed-loop SMC control
algorithm are also presented to prove the effectiveness of this
method in producing high precision motion. |
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| Filename: | A56293 |
| Filesize: | 229.9 KB |
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| Type |
Members Only |
| Date |
Last modified 2006-02-16 by System |
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