Tracking Control of a Flexible Manipulator Using Piezoelectric Transducers

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...