Vision based sliding mode control of micro displacement of a conjugated electroactive polymer actuator
PAMUKKALE UNIVERSITY JOURNAL OF ENGINEERING SCIENCES-PAMUKKALE UNIVERSITESI MUHENDISLIK BILIMLERI DERGISI, cilt.22, sa.8, ss.629-635, 2016 (ESCI, TRDizin)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 22 Sayı: 8
- Basım Tarihi: 2016
- Doi Numarası: 10.5505/pajes.2016.14554
- Dergi Adı: PAMUKKALE UNIVERSITY JOURNAL OF ENGINEERING SCIENCES-PAMUKKALE UNIVERSITESI MUHENDISLIK BILIMLERI DERGISI
- Derginin Tarandığı İndeksler: Emerging Sources Citation Index (ESCI), TR DİZİN (ULAKBİM)
- Sayfa Sayıları: ss.629-635
- Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu
- Karadeniz Teknik Üniversitesi Adresli: Evet
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.