Abstract
Magnetic polymer composites (MPCs) are soft material actuators capable of large deformation and fast response. They are wirelessly actuated and do not require onboard electronics or a power supply. Despite MPCs potential, the accuracy and reliability of controlling material displacement is unknown. This paper investigates the performance of three controllers for MPC position tracking: open-loop, fixed gain proportional-integral-derivative (PID) and gain scheduled PID. A systematic workflow, from plant identification to controller gain tuning, is presented, as well as a comprehensive experimental analysis of each controller. Due to observed nonlinear behavior, open-loop and fixed gain PID control were inadequate for fast, accurate position tracking. Gain scheduled PID presented a viable and efficient option for closed-loop displacement control.
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