Adaptive sliding mode control of tri-layer conjugated polymer actuators

Wang, Xiangjiang; Alici, Gürsel; Nguyen, Chuc Huu

doi:10.1088/0964-1726/22/2/025004

Cited by 17 publications

(17 citation statements)

References 22 publications

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“…Although both piezoelectric and IPMC actuators are smart materials, they have many different characteristics [28]. Wang et al proposed an adaptive SMC controller to improve the position tracking capability of polymer actuators [29]. This research concentrated on controlling the tip of the IPMC actuators for a scope of trajectories.…”

Section: Introductionmentioning

confidence: 99%

Control of an IPMC Soft Actuator Using Adaptive Full-Order Recursive Terminal Sliding Mode

et al. 2021

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The ionic polymer metal composite (IPMC) actuator is a kind of soft actuator that can work for underwater applications. However, IPMC actuator control suffers from high nonlinearity due to the existence of inherent creep and hysteresis phenomena. Furthermore, for underwater applications, they are highly exposed to parametric uncertainties and external disturbances due to the inherent characteristics and working environment. Those factors significantly affect the positioning accuracy and reliability of IPMC actuators. Hence, feedback control techniques are vital in the control of IPMC actuators for suppressing the system uncertainty and external disturbance. In this paper, for the first time an adaptive full-order recursive terminal sliding-mode (AFORTSM) controller is proposed for the IPMC actuator to enhance the positioning accuracy and robustness against parametric uncertainties and external disturbances. The proposed controller incorporates an adaptive algorithm with terminal sliding mode method to release the need for any prerequisite bound of the disturbance. In addition, stability analysis proves that it can guarantee the tracking error to converge to zero in finite time in the presence of uncertainty and disturbance. Experiments are carried out on the IPMC actuator to verify the practical effectiveness of the AFORTSM controller in comparison with a conventional nonsingular terminal sliding mode (NTSM) controller in terms of smaller tracking error and faster disturbance rejection.

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Section: Introductionmentioning

confidence: 99%

Control of an IPMC Soft Actuator Using Adaptive Full-Order Recursive Terminal Sliding Mode

et al. 2021

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“…Significant research has been undertaken to improve the control performance of the conducting polymer actuators, and hence enhance their positioning ability and accuracy [10,[14][15][16][17][18][19][20]. However, most of the proposed control strategies are based on the traditional feedback control system, in which the displacement output of the CPA need to be acquired from the feedback sensor (laser measurement, for example), which is large in size and weight compared to the actuator.…”

Section: Introductionmentioning

confidence: 99%

Control of conducting polymer actuators without physical feedback: simulated feedback control approach with particle swarm optimization

Xiang

Mutlu

Alici

et al. 2014

Smart Mater. Struct.

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Conducting polymer actuators have shown significant potential in articulating micro instruments, manipulation devices, and robotics. However, implementing a feedback control strategy to enhance their positioning ability and accuracy in any application requires a feedback sensor, which is extremely large in size compared to the size of the actuators. Therefore, this paper proposes a new sensorless control scheme without the use of a position feedback sensor. With the help of the system identification technique and particle swarm optimization, the control scheme, which we call the simulated feedback control system, showed a satisfactory command tracking performance for the conducting polymer actuator's step and dynamic displacement responses, especially under a disturbance, without needing a physical feedback loop, but using a simulated feedback loop. The primary contribution of this study is to propose and experimentally evaluate the simulated feedback control scheme for a class of the conducting polymer actuators known as tri-layer polymer actuators, which can operate both in dry and wet media. This control approach can also be extended to other smart actuators or systems, for which the feedback control based on external sensing is impractical.

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“…Among EAP actuators, dielectric elastomer actuators (DEAs) are considered to be the most promising because of their high strain and force outputs, easy fabrication, flexibility, light weight and low cost [2], [3]. DEAs in different modes and shapes have been used for many applications including robotics and mechatronics [4][5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Modeling a soft robotic mechanism articulated with dielectric elastomer actuators

Nguyen

Alici

Mutlu

2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Mutlu, R. (2014). Modeling a soft robotic mechanism articulated with dielectric elastomer actuators. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 599-604). United States: Institute of Electrical and Electronics Engineers. Modeling a soft robotic mechanism articulated with dielectric elastomer actuators AbstractIn this paper, a translational actuation mechanism in the form of a parallel-crank mechanism (i.e. double-crank 4-bar mechanism) articulated with two dielectric elastomer actuators working in parallel are fabricated. This structure, which is a fully soft mechanism, is established by stretching a dielectric elastomer (DE) film over a PET (polyethylene terephthalate) frame so that the energy released from the stretched DE film is stored in the frame as bending energy. The mechanism generates a translational output under a driving voltage applied between two electrodes of the DE film. The visco-elastic models are proposed for the mechanism so that the mechanical properties of the actuator can more accurately be incorporated into the mechanism model. The proposed model accurately predicts the experimental frequency response of the mechanism at different voltages. Abstract-In this paper, a translational actuation mechanism in the form of a parallel-crank mechanism (i.e. double-crank 4-bar mechanism) articulated with two dielectric elastomer actuators working in parallel are fabricated. This structure, which is a fully soft mechanism, is established by stretching a dielectric elastomer (DE) film over a PET (polyethylene terephthalate) frame so that the energy released from the stretched DE film is stored in the frame as bending energy. The mechanism generates a translational output under a driving voltage applied between two electrodes of the DE film. The visco-elastic models are proposed for the mechanism so that the mechanical properties of the actuator can more accurately be incorporated into the mechanism model. The proposed model accurately predicts the experimental frequency response of the mechanism at different voltages.Index Terms-soft robotic mechanism, smart actuators, dielectric elastomer actuators.

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Adaptive sliding mode control of tri-layer conjugated polymer actuators

Cited by 17 publications

References 22 publications

Control of an IPMC Soft Actuator Using Adaptive Full-Order Recursive Terminal Sliding Mode

Control of an IPMC Soft Actuator Using Adaptive Full-Order Recursive Terminal Sliding Mode

Control of conducting polymer actuators without physical feedback: simulated feedback control approach with particle swarm optimization

Modeling a soft robotic mechanism articulated with dielectric elastomer actuators

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