Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/sv/volume-2015/952708/figures/952708.fig.004a.svgz" name="952708.fig.004a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Angular displacement</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/sv/volume-2015/952708/figures/952708.fig.004b.svgz" name="952708.fig.004b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Angular velocity</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/sv/volume-2015/952708/figures/952708.fig.004c.svgz" name="952708.fig.004c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Angular acceleration</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/sv/volume-2015/952708/figures/952708.fig.004d.svgz" name="952708.fig.004d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Modal displacement</td></tr></table>

<div>Comparison of simulation results between the optimal trajectory and quintic polynomial trajectory.</div>

Shock and Vibration

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Figure 4

Figure 4: Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression 