Motion planning for an elastic Kirchhoff plate

The motion planning problem is considered for a cantilevered orthotropic Kirchhoff plate with spatially varying coefficients and distributed piezoelectric patch actuators. For this, the spectral representation of the corresponding equations of motion is utilized to systematically construct a flatness-based parametrization of state and inputs. These enable a very intuitive motion planning to realize prescribed high-speed rest-to-rest motions as is illustrated in simulation scenarios.