Linear Quadratic Integral Control of Multiwall Carbon Nanotube-based Conical Dielectric Elastomer Actuator
Keywords:controller, conical actuator, carbon nanotubes, Linear Quadratic Integral (LQI)
Dielectric elastomer actuators (DEAs) are promising actuators for use as artificial muscles since they are noiseless in operation, exhibit fast responses, and inherently soft with a density like a human muscle. For potential use, simple yet robust controllers are needed to ensure desired trajectory tracking, removal of transient dynamic errors, and guarantee consistent performance with time. In this paper, a linear-quadratic-integral (LQI) controller augmented with a Luenberger observer for a multiwall carbon nanotube/polydimethylsiloxane conical DEA was designed and validated experimentally. The weighting matrices Q and R were tuned manually first to eliminate the peak overshoots, and later to minimize the DEA’s settling time, where Qi, the coefficient for the Q identity matrix, was varied. Qi = 70000 and R = 10, and Qi = 7000 and R = 1 resulted in the DEA having 0% peak overshoot. Upon further tuning of the weights around Qi = 7000 and R = 1, the parameters Qi = 14,000 and R = 0.3 resulted in the DEA attaining a rise time of 150 ms. Also, tracking the voltage ON cycle was satisfactory for repeated cycles as a result of the introduction of a delay compensator.
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Copyright (c) 2021 Minoru Sasaki, Titus Mulembo, Waweru Njeri, Alex Njoroge, Gakuji Nagai, Hirohisa Tamagawa, Keishi Naito, Takahiro Nitta
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