Position control of an Ionic Polymer Metal Composite actuated rotary joint using Iterative Feedback Tuning

Liu, D.; McDaid, Andrew; Aw, Kean C.; Xie, Shane

doi:10.1016/j.mechatronics.2010.12.001

Cited by 35 publications

(27 citation statements)

References 43 publications

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“…1.2.1.4.2 Natural Fiber Composites Glass, carbon, Kevlar, and boron fibers are being used as reinforcing materials in fiber-reinforced plastics, which have been widely accepted as materials for structural and nonstructural applications [18]. However, these materials are resistant to biodegradation and can pose environmental problems.…”

Section: Classification Of Compositesmentioning

confidence: 99%

Nylon Fiber‐Reinforced Polymer Composites

Causin

2012

Polymer Composites

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Section: Classification Of Compositesmentioning

confidence: 99%

Nylon Fiber‐Reinforced Polymer Composites

Causin

2012

Polymer Composites

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“…The model incorporates both IPMC actuation dynamics and hydrodynamics, to predicts the steady‐state cruising speed of the robot under a given periodic actuation voltage. Liu et al have attempted on position control of an IPMC actuated rotary joint using iterative feedback tuning, where advanced modeling and control of IPMC has facilitated their implementation into a biomedical robotic device. Bahramzadeh and Shahinpoor have presented the kinematics and chemo‐electro‐mechanical model of the IPMC actuator‐based distal tip, which could be used to deliver force feedback data by using an embedded IPMC tactile sensor for minimally invasive robotic surgery.…”

Section: Introductionmentioning

confidence: 99%

Design and development of non‐perfluorinated ionic polymer metal composite‐based flexible link manipulator for robotics assembly

et al. 2018

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In this article, a noble ionic polymer metal composite (IPMC) based on sulfonated polyvinyl alcohol (SPVA) and 1‐ethyl‐3‐methylimidazolium tetrachloro aluminate (IL) with deposited Pt was fabricated and used to develop flexible link manipulator. The proposed IPMC was fabricated by simple solution casting method using SPVA and IL with deposited Pt metal by electroless plating method. Herein, SPVA polymer membrane acts as a medium for metal ion migration, and the Pt act as the surface conductive electrode on both sides of the membrane surface. Experimental characterizations such as scanning electron microscopy, cyclic voltammetry and linear sweep voltammetry, load characterization, and actuation performance confirm the excellent electrochemical and electromechanical response as compared with the other reported IPMCs. This method of fabrication exhibits significant advantages, such as the easy process of fabrication using non‐toxic materials. A two‐link flexible manipulator was developed, where the electromechanical behavior of polymer‐based actuator provides an important step for robotic assembly. This shows the potential of flexible compliant fingers and joints in flexible link manipulator for robotic assembly. POLYM. COMPOS., 40:2582–2593, 2019. © 2018 Society of Plastics Engineers

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“…The key advantage of IFT is that detailed knowledge of the (wind turbine) system is not needed, while the main requirement is that the initial closedloop system is stable, implying that it can be directly used for optimization of wind turbine controllers. IFT has been successfully applied to various application fields, including mechatronics (Al Mamun et al, 2007;Heertjes et al, 2016), robotics (Liu et al, 2011), process industry (Lequin, 1997), and recently wind turbines .…”

Section: Introductionmentioning

confidence: 99%

Iterative feedback tuning of wind turbine controllers

2017

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Abstract. Traditionally, wind turbine controllers are designed using first principles or linearized or identified models. The aim of this paper is to show that with an automated, online, and model-free tuning strategy, wind turbine control performance can be significantly increased. For this purpose, iterative feedback tuning (IFT) is applied to two different turbine controllers: drivetrain damping and collective pitch control. The results, obtained by high-fidelity simulations using the NREL 5MW wind turbine, indicate significant performance improvements over baseline controllers, which were designed using classical loop-shaping techniques. It is concluded that iterative feedback tuning of turbine controllers has the potential to become a valuable tool to improve wind turbine performance.

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Position control of an Ionic Polymer Metal Composite actuated rotary joint using Iterative Feedback Tuning

Cited by 35 publications

References 43 publications

Nylon Fiber‐Reinforced Polymer Composites

Nylon Fiber‐Reinforced Polymer Composites

Design and development of non‐perfluorinated ionic polymer metal composite‐based flexible link manipulator for robotics assembly

Iterative feedback tuning of wind turbine controllers

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