Inversion-Based Feedforward Control of Polypyrrole Trilayer Bender Actuators

被引:47
作者
John, Stephen W. [1 ]
Alici, Gursel [1 ,2 ]
Cook, Christopher D. [3 ]
机构
[1] Univ Wollongong, Sch Mech Mat & Mechatron Engn, Wollongong, NSW 2522, Australia
[2] Univ Wollongong, ARC Ctr Excellence Electromat Sci, Wollongong, NSW 2522, Australia
[3] Univ Wollongong, Fac Engn, Wollongong, NSW 2522, Australia
关键词
Actuators; feedforward systems; intelligent materials; modeling; CONJUGATED POLYMER ACTUATORS; SPEED; PERFORMANCE;
D O I
10.1109/TMECH.2009.2020732
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Conducting polymer bending actuators show potential for unique manipulation devices, particularly at the microscale, given low actuation voltages, controllable manufacture, biocompatibility, and ability to operate in either air or liquid environments; however, the impracticalities of implementing feedback in these environments and at these scales can impede positional control of the actuator. This paper presents an application of inversion-based feedforward positional control to a trilayer bender actuator, which is shown to improve the performance without the use of feedback or adjustments to the chemistry of the device. The step and dynamic displacement responses have all been improved under the feedforward control system, while the response does not change significantly under large increases in external loads. This study contributes the first implementation of inversion-based feedforward control to the emerging area of conducting polymer actuators, paving the way toward their use in functional devices, particularly where the implementation of feedback is difficult.
引用
收藏
页码:149 / 156
页数:8
相关论文
共 32 条
[1]   Response characterization of electroactive polymers as mechanical sensors [J].
Alici, Gursel ;
Spinks, Geoffrey M. ;
Madden, John D. ;
Wu, Yanzhe ;
Wallace, Gordon G. .
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2008, 13 (02) :187-196
[2]   Performance quantification of conducting polymer actuators for real applications: A microgripping system [J].
Alici, Gursel ;
Huynh, Nam N. .
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2007, 12 (01) :73-84
[3]   Predicting force output of trilayer polymer actuators [J].
Alici, Gursel ;
Huynh, Nam N. .
SENSORS AND ACTUATORS A-PHYSICAL, 2006, 132 (02) :616-625
[4]   Conducting polymer microactuators operating in air [J].
Alici, Gursel ;
Devaud, Valerie ;
Renaud, Philippe ;
Spinks, Geoff .
JOURNAL OF MICROMECHANICS AND MICROENGINEERING, 2009, 19 (02)
[5]   An integrated electrochemical sensor-actuator system [J].
Andrews, MK ;
Jansen, ML ;
Spinks, GM ;
Zhou, DZ ;
Wallace, GG .
SENSORS AND ACTUATORS A-PHYSICAL, 2004, 114 (01) :65-72
[6]   Conducting polymer artificial muscles [J].
Baughman, RH .
SYNTHETIC METALS, 1996, 78 (03) :339-353
[7]   Mechanism of actuation in conducting polymers: Osmotic expansion [J].
Bay, L ;
Jacobsen, T ;
Skaarup, S ;
West, K .
JOURNAL OF PHYSICAL CHEMISTRY B, 2001, 105 (36) :8492-8497
[8]   MEMS actuators and sensors: observations on their performance and selection for purpose [J].
Bell, DJ ;
Lu, TJ ;
Fleck, NA ;
Spearing, SM .
JOURNAL OF MICROMECHANICS AND MICROENGINEERING, 2005, 15 (07) :S153-S164
[9]   A survey of control issues in nanopositioning [J].
Devasia, Santosh ;
Eleftheriou, Evangelos ;
Moheimani, S. O. Reza .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2007, 15 (05) :802-823
[10]   Robust adaptive control of conjugated polymer actuators [J].
Fang, Yang ;
Tan, Xiaobo ;
Alici, Guersel .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2008, 16 (04) :600-612