Akademik Veri Yönetim Sistemi
Conference on Electroactive Polymer Actuators and Devices (EAPAD), California, Amerika Birleşik Devletleri, 10 - 13 Mart 2014, cilt.9056, (Tam Metin Bildiri)
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-infinity 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-infinity 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-infinity controller is also compared with a proportional-integral-derivative (PID) controller. We demonstrate that the robust H-infinity control strategy performs repeated acceptable performances on both samples.