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Smart Materials-Based Actuators at the Micro/Nano-Scale pp 149–169Cite as

Kalman Filtering and State-Feedback Control of a Nonlinear Piezoelectric Cantilevered Actuator

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Abstract

This chapter deals with the state estimation with noise rejection in a piezoelectric cantilevered actuator and its state-feedback control. The noises which come from the sensor used, strain gage, are important and should be filtered. For that, we employ the classical Kalman filtering for their rejection and for the state estimation and we apply afterwards a state-feedback control with integral action to improve the general performances of the actuator. However, as the actuator exhibits hysteresis nonlinearity, we propose first its linearization thanks to a feedforward control before application of the above filtering and feedback control. The experimental results confirm the efficiency of the approach and demonstrate the interest of the method for precise positioning such as in micropositioning applications.

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Notes

  1. 1.

    Identification Matlab Toolbox.

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Acknowledgements

This work is supported by the national ANR-Emergence MYMESYS-project (ANR-11-EMMA-006: High Performances Embedded Measurement Systems for multiDegrees of Freedom Microsystems) and partially by the MIM-Hac project.

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Authors and Affiliations

  1. Automatic Control and Micro-Mechatronic Systems Department, AS2M, FEMTO-ST Institute, 24 rue Alain Savary, Besançon, 25000, France

    Micky Rakotondrabe, Juan-Antonio Escareno, Didace Habineza & Sergio Lescano

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  1. Micky Rakotondrabe
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  2. Juan-Antonio Escareno
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  3. Didace Habineza
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  4. Sergio Lescano
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Correspondence to Micky Rakotondrabe .

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  1. at Besancon, Automatic &, University of Franche-Comté, 24, rue Alain Savary, Besancon, 25000, France

    Micky Rakotondrabe

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Rakotondrabe, M., Escareno, JA., Habineza, D., Lescano, S. (2013). Kalman Filtering and State-Feedback Control of a Nonlinear Piezoelectric Cantilevered Actuator. In: Rakotondrabe, M. (eds) Smart Materials-Based Actuators at the Micro/Nano-Scale. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-6684-0_7

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  • DOI: https://doi.org/10.1007/978-1-4614-6684-0_7

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