Communication Dans Un Congrès Année : 2006

Plurilinear Modeling and discrete μ-Synthesis Control of a Hysteretic and Creeped Unimorph Piezoelectric Cantilever.

Résumé

First, we present a survey on modeling and control of bending piezoelectric microactuators. Second, a simple model for nonlinear piezoelectric actuators (hysteresis and creep) is presented. It is based on the multilinear approximation. This model requires low computing power and is well adapted for embedded systems. Finally, a μ-synthesis controller is implemented. Experiments show that the obtained performances are compatible with the requirements of micromanipulation tasks.

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hal-00334255 , version 1 (24-10-2008)

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Micky Rakotondrabe, Yassine Haddab, Philippe Lutz. Plurilinear Modeling and discrete μ-Synthesis Control of a Hysteretic and Creeped Unimorph Piezoelectric Cantilever.. 9th International Conference on Control, Automation, Robotics and Vision, IEEE ICARV'06., Dec 2006, Singapour, Malaysia. pp.57-64, ⟨10.1109/ICARCV.2006.345129⟩. ⟨hal-00334255⟩
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