Controller Design for a Piezoelectric Wheel System

This paper develops a DSP-based velocity controller for a novel piezoelectric wheel system named as the Lateral Elliptical Motion Piezoelectric Wheel. A simplified model of the piezoelectric wheel system is presented. With this model, a DSP-based velocity controller is presented to achieve velocity control. Experimental results demonstrate the performance and efficacy of the 2-D velocity control of the piezoelectric wheel system with the proposed control method.