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TECHNICAL PAPERS

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

[+] Author and Article Information
S. V. Gosavi

Mechanical Engineering, Kansas State University, Manhattan, KS 66506

A. G. Kelkar

Mechanical Engineering, Iowa State University, Ames, IA 50014

J. Vib. Acoust 126(2), 260-271 (May 04, 2004) (12 pages) doi:10.1115/1.1687392 History: Received September 01, 2002; Revised August 01, 2003; Online May 04, 2004
Copyright © 2004 by ASME
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References

Figures

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Flexible link configuration
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Schematic of piezo-electric laminate
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Schematic of the link with piezo-transducers
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Experimental setup for determining frequency response
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Comparison of magnitude plot: analytical Vs experimental
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Comparison of phase plot: analytical Vs experimental
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Methods of passification
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Control system block diagram
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Simulink block diagram for passivity based control
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Bode plot after feedforward compensation
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Bode plot after series compensation
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Bode plot of overall controller
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Simulated time-response for the tip displacement
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Simulated frequency response for the tip displacement
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Simulated initial condition response for the perturbed plant
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Simulated frequency response for the perturbed plant
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Implementation block diagram for time-response
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Experimental initial condition response
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Implementation block diagram for experimental frequency response
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Experimental frequency response for the tip displacement
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Experimental initial condition response for the perturbed plant
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Experimental frequency response for the perturbed plant

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