This paper develops a control system for a bi-stable positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. A bi-stable spring is used to pre-load the membrane, allowing high stroke but producing at the same time a strong non-linear behavior. The paper proposes a detailed electro-mechanical model of the system, which is subsequently used to develop a model-based PI control law providing precise tracking and worst-case performance guarantees. The design strategy is validated both in simulations and experiments.
LMI-based design of PI controllers for micropositioning dielectric electro-active polymer membranes / Rizzello, G; Naso, David; Turchiano, Biagio; York, A; Seelecke, S.. - (2015), pp. 7172201.5509-7172201.5514. (Intervento presentato al convegno American Control Conference, ACC 2015 tenutosi a Chicago, IL nel July 1-3, 2015) [10.1109/ACC.2015.7172201].
LMI-based design of PI controllers for micropositioning dielectric electro-active polymer membranes
NASO, David;TURCHIANO, Biagio;
2015-01-01
Abstract
This paper develops a control system for a bi-stable positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. A bi-stable spring is used to pre-load the membrane, allowing high stroke but producing at the same time a strong non-linear behavior. The paper proposes a detailed electro-mechanical model of the system, which is subsequently used to develop a model-based PI control law providing precise tracking and worst-case performance guarantees. The design strategy is validated both in simulations and experiments.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.