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Modeling piezoelectric stack actuators for control of micromanipulation

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2 Author(s)
M. Goldfarb ; Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA ; N. Celanovic

A nonlinear lumped-parameter model of a piezoelectric stack actuator has been developed to describe actuator behavior for purposes of control system analysis and design, and, in particular, for microrobotic applications requiring accurate position and/or force control. In formulating this model, the authors propose a generalized Maxwell resistive capacitor as a lumped-parameter causal representation of rate-independent hysteresis. Model formulation is validated by comparing results of numerical simulations to experimental data. Validation is followed by a discussion of model implications for purposes of actuator control

Published in:

IEEE Control Systems  (Volume:17 ,  Issue: 3 )