Abstract
This paper presents the characterization, modeling, and control of piezoelectric actuators of a robotic system by considering the temperature effect. Besides the sensitivity to temperature variation, quite often the behavior of piezoelectric actuators is negatively affected by badly-damped vibrations and nonlinear phenomena such as strong hysteresis and creep. An analysis of the sensitivity of piezoelectric actuators to temperature variations (thermo-mechanical displacement) is first presented and the characterization results are discussed. The effect of the temperature mainly on the hysteresis loops, the creep, and vibrations is presented. Then, a temperature-dependent model of piezoelectric actuators is derived based on the study and characterization results obtained. Finally, the model of piezoelectric actuators obtained is used to design a robust RST (Regulation-Sensitivity-Tracking) controller to improve their behavior and achieve a good quality of positioning tasks. Experimental validation is given to demonstrate the efficacy of the presented modeling and control methods.
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