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Proceedings Paper

Robust control of a trilayer conducting polymer actuator
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Paper Abstract

Performance of the conducting polymer actuators (CPAs) are affected by material uncertainties, operating conditions and time of operation. The same size CPAs may have different actuation capabilities, which can also degrade over the course of operation. For accurate and repeatable position tracking, the uncertainties and variations in the actuator dynamics have to be carefully addressed to achieve a desirable control performance. This paper presents a systematic approach for the identification of parametric uncertainties and designing robust H control to achieve a guaranteed performance when the CPA is used for position tracking. We identify the uncertainties in actuator dynamics by performing series of experiments using two geometrically equivalent CPAs. A set of system models is obtained to determine the average actuation capability. The variations in the actuator dynamics are modeled as a parametric uncertainty. H controllers are designed and the robustness of the controllers is validated by experiments on two different but same sized CPAs. The performance of the H controller is also compared with a proportional-integralderivative (PID) controller. We demonstrate that the robust Hcontrol strategy performs repeated acceptable performances on both samples.

Paper Details

Date Published: 8 March 2014
PDF: 10 pages
Proc. SPIE 9056, Electroactive Polymer Actuators and Devices (EAPAD) 2014, 90561U (8 March 2014); doi: 10.1117/12.2044599
Show Author Affiliations
M. Itik, Karadeniz Technical Univ. (Turkey)
Fatma D. Ulker, Massachusetts Institute of Technology (United States)
G. Alici, Univ. of Wollongong (Australia)

Published in SPIE Proceedings Vol. 9056:
Electroactive Polymer Actuators and Devices (EAPAD) 2014
Yoseph Bar-Cohen, Editor(s)

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