Force control of a tri-layer conducting polymer actuator using optimized fuzzy logic control

摘要: Conducting polymers actuators (CPAs) are potential candidates for replacing conventional in various fields, such as robotics and biomedical engineering, due to their advantageous properties, which includes low cost, light weight, actuation voltage biocompatibility. As these very suitable use micro-nano manipulation injection devices the magnitude of force applied target is crucial importance, generated by CPAs needs be accurately controlled. In this paper, a fuzzy logic (FL) controller with Mamdani inference system designed control blocking trilayer CPA polypyrrole electrodes, operates air. The particle swarm optimization (PSO) method employed optimize controller’s membership function parameters therefore enhance performance FL controller. An adaptive neuro-fuzzy model, can capture nonlinear dynamics actuator, utilized process. optimized then implemented on experimentally, its compared non-optimized well those obtained from PID results presented indicate that at tip effectively controlled controller, shows excellent transient steady state characteristics but increases controllers.