By Topic

Modeling and Robust Control Strategy for a Control-Optimized Piezoelectric Microgripper

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Mathieu Grossard ; Interactive Robotics Laboratory , LIST, CEA, France ; Mehdi Boukallel ; Nicolas Chaillet ; Christine Rotinat-Libersa

In this paper, modeling and robust control strategy for a new control-optimized piezoelectric microgripper are presented. The device to be controlled is a piezoelectric flexible mechanism dedicated to micromanipulation. It has been previously designed with an emphasis to control strategy, using a new topological optimization method, by considering innovative frequency-based criteria. A complete nonlinear model relating the voltage and the resulting deflection is established, taking into account hysteresis as a plurilinear model subjected to uncertainties. The approach used for controlling the actuator tip is based on a mixed high authority control (HAC)/low authority control (LAC) strategy for designing a wideband regulator. It consists of a positive position feedback damping controller approach combined with a low-frequency integral controller, which is shown to have robustness performances as good as a RST-based robust pole placement approach for the microgripper. The rejection of the vibrations, naturally induced by the flexible structure, and the control of the tip displacement have been successfully performed. Because we had taken into account frequency-based criteria from the first designing step of our device, we demonstrate that the tuning of the HAC/LAC can be easily performed and leads to low-regulator order.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:16 ,  Issue: 4 )