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Actuators 2016, 5(2), 13; doi:10.3390/act5020013

Multi-Mode Vibration Suppression in MIMO Systems by Extending the Zero Placement Input Shaping Technique: Applications to a 3-DOF Piezoelectric Tube Actuator

Texas A&M University at Qatar, Doha, P.O. Box 23874, Qatar
Automatic Control and Micro-Mechatronic Systems Department, FEMTO-ST Institute; CNRS UMR6174, University of Franche-Comté, ENSMM, UTBM; 24, Rue Alain Savary, 25000 Besançon, France
Author to whom correspondence should be addressed.
Academic Editor: Delbert Tesar
Received: 21 November 2015 / Revised: 5 March 2016 / Accepted: 12 April 2016 / Published: 29 April 2016
(This article belongs to the Special Issue High-Resolution Actuators)
View Full-Text   |   Download PDF [4126 KB, uploaded 5 May 2016]   |  


Piezoelectric tube actuators are extensively used in scanning probe microscopes to provide dynamic scanning motions in open-loop operations. Furthermore, they are employed as micropositioners due to their high bandwidth, high resolution and ease of excitation. However, these piezoelectric micropositioners exhibit badly damped vibrations that occur when the input excites the dynamic response, which tends to degrade positioning accuracy and performance. This paper deals with vibrations’ feedforward control of a multi-degrees of freedom (DOF) piezoelectric micropositioner in order to damp the vibrations in the direct axes and to reduce the cross-couplings. The novelty in this paper relative to the existing vibrations feedforward controls is the simplicity in design approach, the minimal number of shaper impulses for each input required to damp all modes of vibration at each output, and the account for the strong cross-couplings which only occur in multi-DOF cases. A generalization to a multiple degrees of freedom actuator is first proposed. Then simulation runs on a 3-DOF piezoelectric tube micropositioner have been effectuated to demonstrate the efficiency of the proposed method. Finally, experimental tests were carried out to validate and to confirm the predicted simulation. View Full-Text
Keywords: input shaping; vibration; feedforward; actuators; piezoelectric; piezotube input shaping; vibration; feedforward; actuators; piezoelectric; piezotube

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Al Hamidi, Y.; Rakotondrabe, M. Multi-Mode Vibration Suppression in MIMO Systems by Extending the Zero Placement Input Shaping Technique: Applications to a 3-DOF Piezoelectric Tube Actuator. Actuators 2016, 5, 13.

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