제어로봇시스템학회:학술대회논문집
- 1993.10b
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- Pages.197-201
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- 1993
Stability analysis of piezopolymer flexible twisting micro-actuator with a linear feedback control
- Sasaki, M. (Department of Mechanical Engineering, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu, 501-11, Japan) ;
- Wang, P.K.C. (Department of Electrical Engineering, University of California) ;
- Fujisawa, F. (Department of Mechanical Engineering, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu, 501-11, Japan)
- Published : 1993.10.01
Abstract
A method for the closedloop control of the torsional tip motion of a piezo-polymer actuator is presented. The application of Lyapunov's direct, method to the problem is explored. A feedback control of the torsional tip motion of tile piezopolymer actuator is derived by considering tile time rate of change of the total energy of the system. If the angular velocity of the tip of the actuator is known, all the modes of tile actuator can be controlled simultaneously. This approach has tile advantage over the conventional methods in the respect that it allows one to directly with tile system's partial differential equations without resorting to approximations.
Keywords