Repetitive Control of an Artificial Muscle Actuator

Itik M.

9th Asian Control Conference (ASCC), İstanbul, Turkey, 23 - 26 June 2013 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/ascc.2013.6606151
  • City: İstanbul
  • Country: Turkey
  • Karadeniz Technical University Affiliated: Yes


Electroactive polymers also known as 'Artificial Muscles' are promising materials for actuation purposes in diverse application areas such as robotics, aerospace and biomedical systems. This paper investigates the dynamics of a polypyrrole conducting electroactive polymer actuator which is desired to track repeating reference commands. We propose a plug-in repetitive controller to improve the tracking performance of a conducting polymer actuator. The repetitive controller is implemented in cascade with a PI (proportional-integral) controller. The response of the system with repetitive controller is then compared to that of obtained by the implementation of the stand-alone PI controller. The experimental results show that the repetitive controller gives superior results compared to the PI controller and improves the tracking performance significantly.