Repetitive control of an Artificial Muscle actuator

İTİK M.

2013 9th Asian Control Conference, ASCC 2013, İstanbul, Turkey, 23 - 26 June 2013, (Full Text)

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/ascc.2013.6606151
  • City: İstanbul
  • Country: Turkey
  • Dokuz Eylül University Affiliated: No

Abstract

Electroactive polymers also known as 'Artificial Muscles' are promising materials for actuation purposes in diverse application areas such as robotics, aerospace and biomedical systems. This paper investigates the dynamics of a polypyr-role conducting electroactive polymer actuator which is desired to track repeating reference commands. We propose a plugin repetitive controller to improve the tracking performance of a conducting polymer actuator. The repetitive controller is implemented in cascade with a PI (proportional- integral) controller. The response of the system with repetitive controller is then compared to that of obtained by the implementation of the stand-alone PI controller. The experimental results show that the repetitive controller gives superior results compared to the PI controller and improves the tracking performance significantly. © 2013 IEEE.