A multiphysics model of IPMC actuators dependence on relative humidity

Caponetto, Riccardo; Luca, Viviana De; Graziani, S.

doi:10.1109/i2mtc.2015.7151496

Cited by 6 publications

(8 citation statements)

References 15 publications

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“…where I = 2=3(Wh 3 ) is the moment of area inertia and Y e is the equivalent of Young's modulus of IPMC. It is worth to note that Young's modulus also depends on varying humidity as it is stated in Kim et al (2006) and Caponetto et al (2015). Furthermore, it was noted in Newbury (2002) and Farinholt (2005) that mechanical response is attenuated in the range of high frequencies.…”

Section: Modelmentioning

confidence: 86%

“…Relying on physical phenomena, the model accurately defines nonlinear capacitance C 1 (V (t)), virtual capacitance C a (V (t)) which describes the electrochemical adsorption process at the polymer-metal interface, ion diffusion resistance R c (q), electrode resistance R a , and nonlinear direct current (DC) resistance of polymer expressed as current-voltage relationship Y (V (t)). Relying on the previous works which describes the behavior of IPMC under varying humidity (Caponetto et al, 2015;Kim et al, 2006), we add dependency of resistance R c (q) from the water content q.…”

Section: Modelmentioning

confidence: 99%

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Integral multiple models online identifier applied to ionic polymer–metal composite actuator

Bernat

Kołota

2018

Journal of Intelligent Material Systems and Structures

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Ionic polymer–metal composites are classified as a smart materials group, whose properties can be designed depending on the needs that arise. Ionic polymer–metal composites belong to the class of wet electroactive polymers. They are promising candidates actuator for various potential applications mainly due to their flexible, low voltage requirements, compact design, and lack of moving parts. However, being a widely used material in industry, ionic polymer–metal composite requires complex control methods due to its strongly nonlinear nature. An important prerequisite for an intelligent controller is the ability to adapt rapidly to any unknown operating environment. This article presents a novel approach to tuning multiple models of an online identifier by integral mapping. Through the extension of the estimation law of additional mapping between parameters and measurable signals, we significantly improve transient responses without increasing feedback gain. The authors measured the moisture content of ionic polymer–metal composite and consider in the experiment relationship between drying and varying of curvature output. The effectiveness of the proposed multiple models adaptive control strategy was verified in various experiments. The results of the study illustrated in the experiments show that adding new mapping improves not only the transients of controlled plant, but also increases the performance indexes of adaptive system.

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Section: Modelmentioning

confidence: 86%

Section: Modelmentioning

confidence: 99%

Integral multiple models online identifier applied to ionic polymer–metal composite actuator

Bernat

Kołota

2018

Journal of Intelligent Material Systems and Structures

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“…Variations based on ambient conditions are changes in the dynamic behavior of an IPMC material under varying temperature, relative humidity, pH [102]- [105]. In [80] Caponetto In order to make the model sensitive to moisture variations, several of its parameters were optimized for four values of relative humidity: 40%, 60%, 80%, and 100%. In [65] the behavior of an IPMC actuator was modeled as the general multilayer neural network tuned by the Levenberg-Marquardt back-propagation algorithm, such that the magnitude of relative humidity was incorporated as one of the model parameters.…”

Section: ) Ambient Variationsmentioning

confidence: 99%

Challenges and Perspectives in Control of Ionic Polymer-Metal Composite (IPMC) Actuators: A Survey

et al. 2020

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Ionic polymer-metal composites (IPMC) are electroactive polymers expected to be used as soft actuators in various practical areas like robotics, biomedicine and micro manipulation systems. Though IPMC actuators have many advantages (lightweight, noiseless operation, low operating voltage, possibility of miniaturization), some of their inherent properties (back-relaxation, hysteresis, high sensitivity to ambient conditions, aging) make their precise and reliable control a challenging task. This paper presents a survey of control methods for IPMC actuators. A systematic overview of the techniques, addressing the main challenges in IPMC control, is provided. INDEX TERMS Control methods, electroactive polymer (EAP), ionic polymer-metal composite (IPMC), smart material, soft actuator.

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“…The control effect is significantly dependent on the efficiency and accuracy of the online setting, which is generally unreliable. Hence, time delay control (TDC), which exhibits good robustness in various control systems, was applied to IPMC actuators and the force control of a two-link manipulator driven by IPMC actuators [31,32]. The results indicated that, through this control approach, the IPMC actuator performance varies with the input sinusoidal actuating voltage and the effects of the hysteresis characteristics on the control accuracy are reduced.…”

Section: Controlmentioning

confidence: 99%

Modeling and Control of IPMC Actuators Based on LSSVM-NARX Paradigm

Huang

Zhao³

et al. 2019

Mathematics

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Ionic polymer-metal composites are electrically driven intelligent composites that are readily exposed to bending deformations in the presence of external electric fields. Owing to their advantages, ionicpolymer-metal composites are promising candidates for actuators. However, ionicpolymer-metal composites exhibit strong nonlinear properties, especially hysteresis characteristics, resulting in severely reduced control accuracy. This study proposes an ionic polymer-metal composite platform and investigates its modeling and control. First, the hysteresis characteristics of the proposed Pt-electrode ionic polymer-metal composite are tested. Based on the hysteresis characteristics, ionic polymer-metal composites are modeled using the Prandtl-Ishlinskii model and the least squares support vector machine-nonlinear autoregressive model, respectively. Then, the ionic polymer-metal composite is driven by a random sinusoidal voltage, and the LSSVM-NARX model is established on the basis of the displacement data obtained. In addition, an artificial bee colony algorithm is proposed for accuracy optimization of the model parameters. Finally, an inverse controller based on the least squares support vector machine-nonlinear autoregressive model is proposed to compensate the hysteresis characteristics of the ionic polymer-metal composite. A hybrid PID feedback controller is developed by combining the inverse controller with PID feedback control, followed by simulation and testing of its actual position control on the ionic polymer-metal composite platform. The results show that the hybrid PID feedback control system can effectively eliminate the effects of the hysteresis characteristics on ionic polymer-metal composite control.

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A multiphysics model of IPMC actuators dependence on relative humidity

Cited by 6 publications

References 15 publications

Integral multiple models online identifier applied to ionic polymer–metal composite actuator

Integral multiple models online identifier applied to ionic polymer–metal composite actuator

Challenges and Perspectives in Control of Ionic Polymer-Metal Composite (IPMC) Actuators: A Survey

Modeling and Control of IPMC Actuators Based on LSSVM-NARX Paradigm

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