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.
This paper presents an advanced controller design methodology for vibration alleviation of helicopter rotor sys-
tems. Particularly, vibration alleviation in a forward
ight regime where the rotor blades experience periodically
varying aerodynamic loading was investigated. Controller synthesis was carried out under the time-periodic H2
and H∞ framework and the synthesis problem was solved based on both periodic Riccati and Linear Matrix
Inequality (LMI) formulations. The closed-loop stability was analyzed using Floquet-Lyapunov theory, and the
controller's performance was validated by closed-loop high-delity aeroelastic simulations. To validate the con-
troller's performance an actively controlled trailing edge
ap strategy was implemented. Computational cost was
compared for both formulations.
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