期刊
SENSORS AND ACTUATORS A-PHYSICAL
卷 194, 期 -, 页码 149-159出版社
ELSEVIER SCIENCE SA
DOI: 10.1016/j.sna.2013.01.052
关键词
Electroactive polymer actuators; Conducting polymers; Artificial muscles; Repetitive control; Tracking control
资金
- Karadeniz Technical University, BAP [1219]
This paper investigates the dynamics of a polypyrrole-based conducting electroactive polymer actuator which is desired to track repeating reference commands for position control applications. A proportional-integral (PI) control assisted plug-in repetitive controller is proposed and implemented to improve the tracking performance of the polypyrrole actuator. The response of the system with repetitive controller is then compared to the system response which is solely obtained by the implementation of the PI controller. The results show that the repetitive controller improves the tracking performance of the actuator significantly and reduces the steady-state tracking errors compared to the stand-alone PI controller. (C) 2013 Elsevier B.V. All rights reserved.
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