Position Control of a Two-Link Flexible Manipulator Using Piezoelectric Actuators

초록

This paper presents a hybrid actuator scheme to control the end-point position control of a two-link flexible manipulator. The control scheme consists of four different actuators:two servo-motors at the hubs and two piezoceramics bonded on the surfaces of the flexible links. Two sliding mode controllers are designed for the servo-motors, while two constant amplitude controllers are formulated for the piezoactuators based on Lyapulov stsbility. The servo-motors control commanded motion in the plane and the piezoactuators control unwanted vibration occurred during the commanded motion. The controllers are experimentally realized and regulating and position tracking responses are presented to demonstrate the effectiveness of the proposed methodology.