This paper deals with the control of a micrometric positioning system based on an innovative Dielectric Electro-Active Polymer (DEAP) membrane. The membrane generates motion by means of the interaction between a preloading force and the compressive forces between the compliant electrodes surrounding the surface of the polymer. In particular, in this paper the preloading force is generated by a bistable nonlinear spring, which significantly extends the maximum stroke at the cost of a much more nonlinear behavior. To address this challenging problem, in this paper we reformulate the system dynamics in a quasi-LPV framework, and use LMI based optimization to tune a controller ensuring robust performance with respect to such nonlinearities. Since the state variables are not all measurable, we focus on a partial state feedback approach which permits to impose set-point tracking with a desired decay rate specification, overcoming some limitations of standard decay rate design techniques. Several experimental results are performed to validate the proposed approach.
|Titolo:||Robust LMI position regulation of a bistable Dielectric Electro-Active Polymer membrane|
|Data di pubblicazione:||2016|
|Nome del convegno:||54th IEEE Conference on Decision and Control, CDC 2015|
|Digital Object Identifier (DOI):||10.1109/CDC.2015.7402090|
|Appare nelle tipologie:||4.1 Contributo in Atti di convegno|