Force control of electro-active polymer actuators using model-free intelligent control

SANCAK C., Yamac F., Itik M., Alici G.

Journal of Intelligent Material Systems and Structures, vol.32, no.17, pp.2054-2065, 2021 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 32 Issue: 17
  • Publication Date: 2021
  • Doi Number: 10.1177/1045389x20986992
  • Journal Name: Journal of Intelligent Material Systems and Structures
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, PASCAL, Aerospace Database, Applied Science & Technology Source, Business Source Elite, Business Source Premier, Communication Abstracts, Compendex, Computer & Applied Sciences, INSPEC, Metadex, Civil Engineering Abstracts
  • Page Numbers: pp.2054-2065
  • Keywords: Electro-active polymer, conducting polymer actuators, artificial muscle, model-free control, force control, particle swarm optimization, PSO, intelligent PID, SPEED
  • Karadeniz Technical University Affiliated: Yes


© The Author(s) 2021.In this paper, a model-free control framework is proposed to control the tip force of a cantilevered trilayer CPA and similar cantilevered smart actuators. The proposed control method eliminates the requirement of modeling the CPAs in controller design for each application, and it is based on the online local estimation of the actuator dynamics. Due to the fact that the controller has few parameters to tune, this control method provides a relatively easy design and implementation process for the CPAs as compared to other model-free controllers. Although it is not vital, in order to optimize the controller performance, a meta-heuristic particle swarm optimization (PSO) algorithm, which utilizes an initial baseline model that approximates the CPAs dynamics, is used. The performance of the optimized controller is investigated in simulation and experimentally. Successful results are obtained with the proposed controller in terms of control performance, robustness, and repeatability as compared with a conventional optimized PI controller.