We show how thin planar piezoelectric actuators can be used for the robust regulation and trajectory tracking of flexible robots. The analysis is restricted to single-link flexible robot arms, having a planar 'sandwich' structure, constituted by two piezoelectric films, mounted on a thin elastic support. The motion of the structure can be approximately described by finite dimensional, linear, time-invariant equations. The proposed controller provides the regulation of the generalized coordinates, which describe the structure shape, to zero or to constant reference signals with zero steady-state error, and the tracking of ramp reference signals with a finite, arbitrarily bounded, steady-state error, even when variations of the structure parameters occur. Some simulation results are reported. Â© 1995 Taylor & Francis Group, LLC.
Indri, M., & Tornambè, A. (1995). Robust regulation and trajectory tracking for flexible robots by using piezoelectric actuators. ADVANCED ROBOTICS, 10(3), 265-282 [10.1163/156855395X00391].