Output Feedback Control of a Piezoelectric Robotic Manipulator During the Characterization of an Object Exhibiting Nonlinear Viscoelastic Deformation

Abstract

This paper proposes the modeling and control of a piezoelectric robotic manipulator used to characterize the behavior of a deformable object that exhibits nonlinear and viscoelastic deformation. To this aim, the manipulator's behavior, which exhibits nonlinearity, is approximated by a classical Bouc- Wen hysteresis model. Then, an output feedback control that ensures position reference tracking is designed for the manipulator. The output feedback is based on observers that estimate the manipulator's states and the interaction force with the characterized object. Finally, using the estimated force and the controlled position information, the force-deformation characteristics of the object are plotted, accessing its behavior and potentially its model parameters.