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, cilt.22, sa.8, ss.629-635, 2016 (ESCI İndekslerine Giren Dergi) identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 22 Konu: 8
  • Basım Tarihi: 2016
  • Doi Numarası: 10.5505/pajes.2016.14554
  • Dergi Adı: PAMUKKALE UNIVERSITY JOURNAL OF ENGINEERING SCIENCES-PAMUKKALE UNIVERSITESI MUHENDISLIK BILIMLERI DERGISI
  • Sayfa Sayıları: ss.629-635

Özet

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.