Abstract

This paper presents results on the passivity-based control of piezo-actuated flexible beam. The flexible beam considered is a cantilever aluminum beam with piezoelectric transducer as an actuator and accelerometer as a sensor placed at the tip. Using Lagrangian formulation and the assumed modes approach a finite dimensional analytical model is derived which compares very well with the identified model. The simulation and experimental results demonstrate that passivity-based controller is very effective in vibration suppression, and is robust to parametric uncertainties and unmodeled dynamics.

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