Flatness-based tracking control of a piezoactuated Euler–Bernoulli beam with non-collocated output feedback: theory and experiments†

†This paper is dedicated to Prof. Michel Fliess on the occasion of his 60th birthday.

Abstract

This paper considers the combination of flatness-based motion planning and feedforward control with output feedback to achieve robust tracking of prescribed trajectories for the tip displacement of a multi-layered piezoelectric cantilever beam. Thereby, the flatness property of the distributed-parameter beam model is exploited to derive the infinite-dimensional tracking error system, which serves as the basis for the design of the output error feedback control. The stability of the resulting closed-loop system involving the infinite-dimensional beam model is proven in an input/output sense by utilizing a Nyquist-type stability criterion. Experimental results illustrate the high tracking performance in view of exogenous disturbances. The presented approach provides a systematic extension of the two-degrees-of-freedom control concept to distributed-parameter systems.

†This paper is dedicated to Prof. Michel Fliess on the occasion of his 60th birthday.

Notes

†This paper is dedicated to Prof. Michel Fliess on the occasion of his 60th birthday.