Abstract

Thin planar piezoelectric actuators are 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, that describe the structure shape, to zero or to constant reference signals with zero steady-state error, and the tracking of constant velocity reference signals with a finite, arbitrarily bounded, steady-state error, even when variations of the structure parameters occur. Some simulation results are reported.

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