@inproceedings{ec1c41526a43466589bd09b0151f47b7,
title = "Feedforward and output feedback control of a highly oscillating and nonlinear 2-DOF piezoelectric actuator by using input shaping compensator and a linear quadratic regulator",
abstract = "This paper deals with the control of a two degrees of freedom (2-DOF) piezoelectric cantilever actuator which is characterized by badly damped oscillations, hysteresis nonlinearity and cross-couplings. First, a feedforward control scheme based on the zero placement technique is introduced to annihilate the oscillations. Then a disturbance observer and a disturbance compensator are introduced to reduce the effects of low frequencies phenomena (hysteresis and creep) which were approximated by a fictive disturbance. Finally an output feedback scheme based on the linear quadratic regulator is added in order to reduce the cross-couplings effects to improve the tracking performances, and eventually to add robustness. Experiments were carried out and confirm the predicted performances.",
keywords = "2-DOF piezoactuator, Badly damped oscillations, Cross-couplings, Disturbance observer, Feedforward control, Input shaping, LQR, Output-feedback control, Vibrations",
author = "{Al Hamidi}, Yasser and Micky Rakotondrabe",
note = "Publisher Copyright: {\textcopyright} COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.; 3rd Sensors for Next-Generation Robotics Conference ; Conference date: 20-04-2016 Through 21-04-2016",
year = "2016",
doi = "10.1117/12.2229008",
language = "English",
series = "Proceedings of SPIE - The International Society for Optical Engineering",
publisher = "SPIE",
editor = "Dan Popa and Wijesundara, {Muthu B. J.}",
booktitle = "Sensors for Next-Generation Robotics III",
address = "United States",
}