Force estimation in a 2-DoF piezoelectric actuator by using the inverse-dynamics based unknown input observer technique

Trenchant, Vincent; Rakotondrabe, Micky; Haddab, Yassine

doi:10.1117/12.2185682

Cited by 2 publications

(4 citation statements)

References 36 publications

(19 reference statements)

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“…Jung et al [3] used a Kalman filter to estimate the contact force between a manipulator and its environment, but this paper only presents simulation results. Trenchant et al [4] used an unknown input observer to estimate the contact force between a two-degree-of-freedom piezoelectric actuator and its environment. The study [5] used the generalized proportional integral observer to estimate a contact force in a simulation study.…”

Section: Introductionmentioning

confidence: 99%

“…To counteract parametric uncertainties associated with the plant's mathematical model, the studies [8,9] proposed adaptive rules to adjust observer parameters for reducing parametric uncertainties. However, these studies [3][4][5][6][7][8][9] cannot consider unknown disturbances inherent to a servo system, such as the joint friction of a robotic arm. In other words, these force observers [3][4][5][6][7][8][9] are incapable of distinguishing the intrinsic disturbance force from the external contact force, which deteriorates the preciseness of force estimation.…”

Section: Introductionmentioning

confidence: 99%

“…However, these studies [3][4][5][6][7][8][9] cannot consider unknown disturbances inherent to a servo system, such as the joint friction of a robotic arm. In other words, these force observers [3][4][5][6][7][8][9] are incapable of distinguishing the intrinsic disturbance force from the external contact force, which deteriorates the preciseness of force estimation.…”

Section: Introductionmentioning

confidence: 99%

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Low-frequency compensation of piezoelectric force sensors for servo systems

Lu¹,

Lyu²,

Jeng³

2022

Meas. Sci. Technol.

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This paper presents a force/disturbance observer that compensates for the low-frequency response of a piezoelectric force sensor. Although the piezoelectric force sensor has many salient features, it is unable to measure dc and quasi-dc forces. The proposed observer compensates for this low-frequency deficiency, enabling the piezoelectric force sensor to be used in a servo system. Compared with previous studies, the proposed scheme requires redesigning neither the sensor structure nor sensing circuitry and can be easily integrated into an existing measurement system. As a by-product, the proposed observer also produces a disturbance estimate that can be used to enhance the robustness of a servo system. This paper reports experimental results of force control and position control for a linear motion platform equipped with a piezoelectric force sensor and a strain gauge-based load cell. The force control results indicate that the control system using the proposed observer can achieve a wider bandwidth than that using the load cell as a feedback-sensing device. In a comparative study, the position control results further demonstrate the proposed observer’s effectiveness in diminishing the piezoelectric sensor’s low-frequency deficiency. Moreover, the disturbance estimate produced by the proposed observer is experimentally introduced to the position control system, showing an enhanced tracking performance in terms of the root-mean-square error.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Low-frequency compensation of piezoelectric force sensors for servo systems

Lu¹,

Lyu²,

Jeng³

2022

Meas. Sci. Technol.

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“…Notice that the LTI approximation of the creep is important within different applications: modeling, feedforward control, feedback control and signal estimation [5][6][7][8][9][10][11][12][13][14][15]. Γ d (u(s), s) is mainly described by a rate-dependent Prandtl-Ishlinskii model [16][17][18][19].…”

Section: Pea Nonlinear Modelingmentioning

confidence: 99%

Getting Started with PEAs-Based Flapping-Wing Mechanisms for Micro Aerial Systems

et al. 2016

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This paper introduces recent advances on flapping-wing Micro and Nano Aerial Vehicles (MAVs and NAVs) based on Piezoelectric Actuators (PEA). Therefore, this work provides essential information to address the development of such bio-inspired aerial robots. PEA are commonly used in micro-robotics and precise positioning applications (e.g., micro-positioning and micro-manipulation), whereas within the Unmanned Aerial Vehicles (UAVs) domain, motors are the classical actuators used for rotary or fixed-wing configurations. Therefore, we consider it pertinent to provide essential information regarding the modeling and control of piezoelectric cantilever actuators to accelerate early design and development stages of aerial microrobots based on flapping-wing systems. In addition, the equations describing the aerodynamic behavior of a flapping-wing configuration are presented.

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Force estimation in a 2-DoF piezoelectric actuator by using the inverse-dynamics based unknown input observer technique

Cited by 2 publications

References 36 publications

Low-frequency compensation of piezoelectric force sensors for servo systems

Low-frequency compensation of piezoelectric force sensors for servo systems

Getting Started with PEAs-Based Flapping-Wing Mechanisms for Micro Aerial Systems

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