Original paper
Tracking Control of a Flexible Manipulator Using Piezoelectric Transducers
Abstract
In this paper, a nonlinear control scheme is presented to achieve accurate tracking in a 2-DOF flexible manipulator. A secondary actuation mechanism using piezoelectric materials is added to the system for suppressing residual vibrations at the end point of the flexible link. A piezo-ceramic sensor is also used to obtain the modal states of the system. A partial feedback linearization technique based on output redefinition is utilized. A model...
Paper Details
Title
Tracking Control of a Flexible Manipulator Using Piezoelectric Transducers
Published Date
Sep 1, 2004
Journal
Volume
37
Issue
14
Pages
653 - 658
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Notes
History