Beyhan S., İtik M.
JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES, vol.27, no.8, pp.1019-1029, 2016 (SCI-Expanded, Scopus)
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Publication Type:
Article / Article
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Volume:
27
Issue:
8
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Publication Date:
2016
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Doi Number:
10.1177/1045389x15577660
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Journal Name:
JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES
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Journal Indexes:
Science Citation Index Expanded (SCI-EXPANDED), Scopus
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Page Numbers:
pp.1019-1029
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Keywords:
Indirect adaptive control, fuzzy-Chebyshev network, stability, conducting polymer actuator, real-time control
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Dokuz Eylül University Affiliated:
No
Abstract
In this paper, the tip displacement of a conducting polymer actuator (CPA), which has an unknown and time-varying dynamics, is controlled using three different model-free adaptive controllers. First, conventional indirect adaptive fuzzy and Chebyshev functional-link network controllers are introduced. Second, a novel hybrid network which combines the capability of conventional fuzzy system and Chebyshev functional-link network is proposed for online identification and control of the CPA. The stability of the proposed controllers and boundedness of the closed-loop signals are proven using Lyapunov stability approach. The designed adaptive controllers are implemented experimentally in real-time. The performances of the controllers in tracking a square and a sine reference are compared in terms of root-mean-squared error (RMSE), required input signal power (ICVP) and settling time ( ts) performances.