Inversion-based control of ionic polymer-metal composite actuators with nanoporous carbon-based electrodes


VUNDER V., Itik M. , POLDSALU I., PUNNING A., AABLOO A.

SMART MATERIALS AND STRUCTURES, vol.23, no.2, 2014 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 23 Issue: 2
  • Publication Date: 2014
  • Doi Number: 10.1088/0964-1726/23/2/025010
  • Title of Journal : SMART MATERIALS AND STRUCTURES

Abstract

Ionic polymer-metal composite (IPMC) actuators are multilayer composites that change their shape and size in response to low-voltage driving signals. Because these devices possess both actuating and sensing properties, these composites have already been proposed for numerous applications. Recently, high-strain nanoporous carbon electrodes were developed with the aim of improving the performance and stability of IPMC actuators. In order to prevent damage to the device or injury, precise control of the actuator is essential. Thus far, there are no reports on the dynamic response of IPMC actuators with electrodes composed of a porous carbon material. This study fills this gap in the research by presenting the results of testing both open- and closed-loop controllers of this novel actuator for position control. Inversion-based open-loop controller is first tested on the actuator to evaluate the performance of the actuator in sensorless control applications. Then, the displacement of the tip point of the actuator is used as the feedback signal for closed-loop control to compensate for the errors experienced in open- loop control.