Variable structure adaptive force tracking control of a cantilever beam using a piezoelectric actuator

This paper presents an adaptive force trajectory control of a flexible beam using a piezoceramic actuator. Based on the variable structure model refer ence adaptive control theory, a new force control system using only force m easurement is designed. For the derivation of the control law, it is assume d that parameters of the beam and contact surface stiffness are unknown. It is shown that in the closed-loop system, the contact force tracks a given reference trajectory and the beam vibration is suppressed as well. Digital simulations results show that the closed-loop system has good transient beh avior and robust performance in the presence of uncertainties in the parame ters of the flexible beam and the contact surface, and unmodeled dynamics a s well.