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 reference adaptive control theory, a new force control system using only force measurement is designed. For the derivation of the control law, it is assumed 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 behavior and robust performance in the presence of uncertainties in the parameters of the flexible beam and the contact surface, and unmodeled dynamics as well.