Vision based sliding mode control of micro displacement of a conjugated electroactive polymer actuator


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SANCAK C. , COŞKUN M. Y. , Itik M.

PAMUKKALE UNIVERSITY JOURNAL OF ENGINEERING SCIENCES-PAMUKKALE UNIVERSITESI MUHENDISLIK BILIMLERI DERGISI, vol.22, no.8, pp.629-635, 2016 (Journal Indexed in ESCI) identifier

  • Publication Type: Article / Article
  • Volume: 22 Issue: 8
  • Publication Date: 2016
  • Doi Number: 10.5505/pajes.2016.14554
  • Title of Journal : PAMUKKALE UNIVERSITY JOURNAL OF ENGINEERING SCIENCES-PAMUKKALE UNIVERSITESI MUHENDISLIK BILIMLERI DERGISI
  • Page Numbers: pp.629-635

Abstract

In this paper, vision based displacement control of a tri-layer conjugated electro-active polymer actuator has been performed in micrometer resolution. Sliding mode control with different reaching laws which is robust to unmodeled uncertainties has been used as the control method. A microscope has been used to observe position of the free end point of the actuator and a vision based system has been employed for feedback signal. Experimental results show that the conjugated electro-active polymer actuators can be successfully controlled in micrometer resolution and can be used in applications which includes micromanipulation like cell injection.