Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators

Figure 14

Comparison between the simulated and experimental results of the SFM ((a) time-varying control variable; (b) control torque; (c) control voltage; (d) tip angle; (e) tip deflection; (f) strain trend).

(a)

(b)

(c)

(d)

(e)

(f)