Modeling and Design of H-Infinity Controller for Piezoelectric Actuator LIPCA

作     者：Gigun Lee Kwanwoo You Taesam Kang Kwang Joon Yoon Jeong Oog Lee Jung Keun Park 

作者机构：Department of Aerospace Information EngineeringKonkuk University 

基　　金：supported by the Korea Research Foundation Grant(KRF-2006-005-J03303) 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2010年第7卷第2期

页      码：168-174页

摘      要：We proposed a dynamic model identification and design of an H-Infinity （i.e.H） controller using a LightweightPiezo-Composite Actuator （LIPCA）.A second-order dynamic model was obtained by using input and output data, and applyingan identification *** identified model coincides well with the real *** reduce the resonating mode that istypical of piezoelectric actuators, a notch filter was used.A feedback controller using the Hcontrol scheme was designed basedon the identified dynamic model; thus, the LIPCA can be easily used as an actuator for biomemetic applications such as artificialmuscles or macro/micro positioning in *** control algorithm was implemented using a microprocessor, analogfilters, and power amplifying *** simulation and experimental results demonstrate that the proposed control algorithmworks well in real environment, providing robust performance and stability with uncertain disturbances.

主 题 词：piezoelectric actuator model identification H-infinity controller biomimetic artificial muscle LIPCA 

学科分类：08[工学] 0835[0835] 0802[工学-机械学] 080201[080201] 

核心收录：

D　O　I：10.1016/S1672-6529(09)60198-0

馆 藏 号：203415647...