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Article

A PI Controller with a Robust Adaptive Law for a Dielectric Electroactive Polymer Actuator

Faculty of Control, Robotics and Electrical Engineering, Poznan University of Technology, 60-965 Poznan, Poland
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Author to whom correspondence should be addressed.
Academic Editors: Jong-Myon Kim, Hyeung-Sik Choi, Farzin Piltan and Esteban Tlelo-Cuautle
Electronics 2021, 10(11), 1326; https://doi.org/10.3390/electronics10111326
Received: 8 April 2021 / Revised: 27 May 2021 / Accepted: 29 May 2021 / Published: 1 June 2021
(This article belongs to the Special Issue Control Applications and Learning)
Dielectric electroactive polymer actuators are new important transducers in control system applications. The design of a high performance controller is a challenging task for these devices. In this work, a PI controller was studied for a dielectric electroactive polymer actuator. The pole placement problem for a closed-loop system with the PI controller was analyzed. The limitations of a PI controller in the pole placement problem are discussed. In this work, the analytic PI controller gain rules were obtained, and therefore extension to adaptive control is possible. To minimize the influence of unmodeled dynamics, the robust adaptive control law is applied. Furthermore, analysis of robust adaptive control was performed in a number of simulations and experiments. View Full-Text
Keywords: robust adaptive control; PID controller; dielectric electroactive polymer actuator robust adaptive control; PID controller; dielectric electroactive polymer actuator
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MDPI and ACS Style

Bernat, J.; Kolota, J. A PI Controller with a Robust Adaptive Law for a Dielectric Electroactive Polymer Actuator. Electronics 2021, 10, 1326. https://doi.org/10.3390/electronics10111326

AMA Style

Bernat J, Kolota J. A PI Controller with a Robust Adaptive Law for a Dielectric Electroactive Polymer Actuator. Electronics. 2021; 10(11):1326. https://doi.org/10.3390/electronics10111326

Chicago/Turabian Style

Bernat, Jakub, and Jakub Kolota. 2021. "A PI Controller with a Robust Adaptive Law for a Dielectric Electroactive Polymer Actuator" Electronics 10, no. 11: 1326. https://doi.org/10.3390/electronics10111326

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