Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators

Figure 11

Simulation curves of composite control for trajectory tracking and vibration suppression of the SFM ((a) time-varying control variable; (b) control torque; (c) control voltage; (d) tip angle; (e) first-order modal coordinate; (f) second-order modal coordinate; (g) tip deflection; (h) strain time history).

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)