Plurilinear Modeling and discrete μ-Synthesis Control of a Hysteretic and Creeped Unimorph Piezoelectric Cantilever.

Micky Rakotondrabe (1) , Yassine Haddab (1) , Philippe Lutz (1)

1 LAB - Laboratoire d'automatique de Besançon

First, we present a survey on modeling and control of bending piezoelectric microactuators. Second, a simple model for nonlinear piezoelectric actuators (hysteresis and creep) is presented. It is based on the multilinear approximation. This model requires low computing power and is well adapted for embedded systems. Finally, a μ-synthesis controller is implemented. Experiments show that the obtained performances are compatible with the requirements of micromanipulation tasks.

Mots clés: μ-synthesis control; Piezoelectric cantilever; hysteresis and creep; plurilinear modeling; μ-synthesis control.

Domaines: Micro et nanotechnologies/Microélectronique

Micky Rakotondrabe, Yassine Haddab, Philippe Lutz. Plurilinear Modeling and discrete μ-Synthesis Control of a Hysteretic and Creeped Unimorph Piezoelectric Cantilever.. 9th International Conference on Control, Automation, Robotics and Vision, IEEE ICARV'06., Dec 2006, Singapour, Malaysia. pp.57-64, ⟨10.1109/ICARCV.2006.345129⟩. ⟨hal-00334255⟩