Sliding-mode control of a flexure based mechanism using piezoelectric actuators

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Acer, Merve and Şabanoviç, Asif (2012) Sliding-mode control of a flexure based mechanism using piezoelectric actuators. In: 12th IEEE International Workshop on Advanced Motion Control (AMC), Sarajevo, Bosnia and Herzegovina

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Official URL: http://dx.doi.org/10.1109/AMC.2012.6197141


The position control of designed 3 PRR flexure based mechanism is examined in this paper. The aims of the work are to eliminate the parasitic motions of the stage, misalignments of the actuators, errors of manufacturing and hysteresis of the system by having a redundant mechanism with the implementation of a sliding mode control and a disturbance observe. x-y motion of the end-effector is measured by using a laser position sensor and the necessary references for the piezoelectric actuators are calculated using the pseudo inverse of the transformation matrix coming from the experimentally determined kinematics of the mechanism. The effect of the observer and closed loop control is presented by comparing the results with open loop control. The system is designed to be redundant to enhance the position control. In order to see the effects of the redundant system firstly the closed loop control for active 2 piezoelectric actuators experiments then for active 3 piezoelectric actuators experiments are presented. As a result, our redundant mechanism tracks the desired trajectory accurately and its workspace is bigger.

Item Type:Papers in Conference Proceedings
Uncontrolled Keywords:compliant mechanism , flexure based mechanism , observer , piezoelectric actuator control , sliding mode control
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
ID Code:19708
Deposited By:Asif Şabanoviç
Deposited On:20 Oct 2012 21:47
Last Modified:31 Jul 2019 11:56

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