ER클러치와 적층형압전작동기를 이용한 이중서보스테이지의 정밀위치제어

초록

This paper presents a dual servo control system featuring two samrt material actuators:ER fluid clutch and piezostack actuator. After formulating the governing equation of motion, a decentralized control algorithm is designed and implemnted. Control responses for step and sinusoidal trajectories are presented in time domain.