Fuzzy Control of a Conjugated Polymer Actuator

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Sabetghadam M., Itik M., Alici G.

52nd IEEE Annual Conference on Decision and Control (CDC), Florence, Italy, 10 - 13 December 2013, pp.336-341 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/cdc.2013.6759904
  • City: Florence
  • Country: Italy
  • Page Numbers: pp.336-341
  • Karadeniz Technical University Affiliated: Yes


Polypyrrole actuators may represent time varying and nonlinear dynamics as the solvent evaporation continuously affects their performance. Linear models can be used to design controllers for polypyrrole actuators to some extent but their performance may not be sufficient in order to comply with the requirements for applications where high precision is necessary. This paper proposes a Fuzzy Logic controller to improve the tracking performance of a trilayer polypyyrole conducting polymer actuator. As the fuzzy controller does not require a model for the system, the nonlinearities and uncertainties can be handled effectively. Experimental results show that fuzzy control improves the tracking performance compared to the conventional PID controller which is designed based on a linear model of the polypyrrole actuator.