Abstract
Abstract This paper considers a micrometric positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. The paper suggests various model-based design strategies (in both time and frequency domains) for PID control laws, which are able to compensate the nonlinear behavior of the actuator (caused by the characteristics of the material and the annular geometry of the membrane) and obtain very precise tracking of steps or sinusoidal reference signals. The various design strategies are discussed and compared both in simulations and experiments.
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