Robust control of a trilayer conducting polymer actuator

M. Itik; Fatma D. Ulker; G. Alici

doi:10.1117/12.2044599

8 March 2014 Robust control of a trilayer conducting polymer actuator

M. Itik, Fatma D. Ulker, G. Alici

Proceedings Volume 9056, Electroactive Polymer Actuators and Devices (EAPAD) 2014; 90561U (2014) https://doi.org/10.1117/12.2044599
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2014, San Diego, California, United States

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 H_∞control strategy performs repeated acceptable performances on both samples.

Citation Download Citation

M. Itik, Fatma D. Ulker, and G. Alici "Robust control of a trilayer conducting polymer actuator", Proc. SPIE 9056, Electroactive Polymer Actuators and Devices (EAPAD) 2014, 90561U (8 March 2014); https://doi.org/10.1117/12.2044599

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