Adaptive fuzzy-Chebyshev network control of a conducting polymer actuator

BEYHAN S., İTİK M.

Journal of Intelligent Material Systems and Structures, vol.27, no.8, pp.1019-1029, 2016 (SCI-Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 27 Issue: 8
  • Publication Date: 2016
  • Doi Number: 10.1177/1045389x15577660
  • Journal Name: Journal of Intelligent Material Systems and Structures
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.1019-1029
  • Keywords: conducting polymer actuator, fuzzy-Chebyshev network, Indirect adaptive control, real-time control, stability
  • Yıldız Technical University Affiliated: No

Abstract

In this paper, the tip displacement of a conducting polymer actuator (CPA), which has an unknown and time-varying dynamics, is controlled using three different model-free adaptive controllers. First, conventional indirect adaptive fuzzy and Chebyshev functional-link network controllers are introduced. Second, a novel hybrid network which combines the capability of conventional fuzzy system and Chebyshev functional-link network is proposed for online identification and control of the CPA. The stability of the proposed controllers and boundedness of the closed-loop signals are proven using Lyapunov stability approach. The designed adaptive controllers are implemented experimentally in real-time. The performances of the controllers in tracking a square and a sine reference are compared in terms of root-mean-squared error (RMSE), required input signal power (ICVP) and settling time (ts) performances.