Modelling, Identification, and Passivity-Based Robust Control of Piezo-actuated Flexible Beam

Abstract

This paper presents modelling, system identification, simulation, and experimental results for passivity-based robust control of piezo-actuated flexible beam. The flexible beam configuration considered is a cantilever aluminum beam with a piezoelectric transducer used as the actuator and tip-accelerometer as the sensor. The actuator and sensor are non-collocated. The Lagrangian formulation is used to obtain mathematical model of the flexible link dynamics with piezo actuator. For control design purposes, a finite dimensional approximate model is derived using assumed modes approach. It is shown that the approximate model compares very well with the experimentally identified model. Since the system is inherently not passive, passification techniques are used to render the system robustly passive which enables the use of passivity-based feedback control design. The controller design is validated both in simulation as well as in experiments. The simulation and experimental results demonstrate the effectiveness of controller in suppressing the tip vibrations of the link. The controller design is shown to be robust to both parametric uncertainties and unmodeled dynamics.