Robust Tracking Control of Smart Flexible Structures Featuring Piezofilm Actuators

압전필름 작동기로 구성된 스마트 유연 구조물의 강건추적제어

  • Lee, Chul-Hee (Dept.of Mechanical Engineering, Graduate School of Inha University) ;
  • Choei-Seung-Bok (Dept.of Mechanical Engineering, Inha University)
  • 이철희 (인하대학교 대학원 기계공학과) ;
  • 최승복 (인하대학교 기계공학과)
  • Published : 1996.05.01


This paper presents a robust control of a smart flexible structure featured by a piezofilm actuator characterizing its light weght and quick response time. A mathematical governing equation for the proposed structure is derived by employing Hamilton's principle and a state space control model is subsequentrly obtained through modal analysis. Uncertain system parameters such as frequency variation are included in the control model. A sliding mode control theroy thich has inherent robustness to systme uncertainties is adopted to design a tracking controller for the peizofilm actuator. Using the output informaiton from the tip deflection sensor, a full-order observer is constructed ot estimate state variables for the system. Tracking performances for desired trajectories of sinusoidal amd step functions are evaluated by undertaking both simulation and experimental works.