Abstract
Dielectric electroactive polymer actuators are new important transducers in control system applications. The design of a high performance controller is a challenging task for these devices. In this work, a PI controller was studied for a dielectric electroactive polymer actuator. The pole placement problem for a closed-loop system with the PI controller was analyzed. The limitations of a PI controller in the pole placement problem are discussed. In this work, the analytic PI controller gain rules were obtained, and therefore extension to adaptive control is possible. To minimize the influence of unmodeled dynamics, the robust adaptive control law is applied. Furthermore, analysis of robust adaptive control was performed in a number of simulations and experiments.
Highlights
The dielectric electroactive polymer (DEAP) actuators are being intensively developed as a new generation of transducers [1,2,3]
The DEAP actuator is described by a nonlinear model [11,12,26] which can be written in the state space form as: x = f (x) + g(x)u2 (1)
This work presents the design of a PI controller
Summary
The dielectric electroactive polymer (DEAP) actuators are being intensively developed as a new generation of transducers [1,2,3]. The most popular design technique for DEAP actuators is using a PID controller. In the works [12,15], a model of a DEAP actuator was used to design a robust controller. A PI controller was studied on the basis of a second-order model. The properties of the self tuning methods for PID controllers have been studied in many works [20,21]. At the beginning of this paper, the model of DEAP actuator is described. The main advantages of the presented approach are the analytic rules for PI controller gains This enables one to calculate the gains online, and the adaptive control can be applied by using identification of parameters.
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