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Robust adaptive control of conjugated polymer actuators

Conference Paper


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Abstract


  • Conjugated polymers are promising actuation materials for bio and micromanipulation systems, biomimetic

    robots, and biomedical devices. Sophisticated electrochemomechanical dynamics in these materials, however,

    poses significant challenges in ensuring their consistent, robust performance in applications. In this paper an

    effective adaptive control strategy is proposed for conjugated polymer actuators. A self-tuning regulator is

    designed based on a simple actuator model, which is obtained through reduction of an infinite-dimensional

    physical model and captures the essential actuation dynamics. The control scheme is made robust against

    unmodeled dynamics and measurement noises with parameter projection, which forces the parameter estimates to

    stay within physically-meaningful regions. The robust adaptive control method is applied to a trilayer polypyrrole

    actuator that demonstrates significant time-varying actuation behavior in air due to the solvent evaporation.

    Experimental results show that, during four-hour continuous operation, the proposed scheme delivers consistent

    tracking performance with the normalized tracking error decreasing from 11% to 7%, while the error increases

    from 7% to 28% and to 50% under a PID controller and a fixed model-following controller, respectively. In the

    mean time the control effort under the robust adaptive control scheme is much less than that under PID, which

    is important for prolonging the lifetime of the actuator.

UOW Authors


  •   Fang, Yang (external author)
  •   Tan, Xiaobo (external author)
  •   Alici, Gursel

Publication Date


  • 2007

Citation


  • Fang, Y., Tan, X. & Alici, G. (2007). Robust adaptive control of conjugated polymer actuators. Proc. of the SPIE 14th International Symposium on Smart Structures and Materials, and Nondestructive Evaluation and Health Monitoring (pp. 652407-1-652407-11). United States: SPIE.

Scopus Eid


  • 2-s2.0-35148830384

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=7065&context=engpapers

Ro Metadata Url


  • http://ro.uow.edu.au/engpapers/4134

Start Page


  • 652407-1

End Page


  • 652407-11

Place Of Publication


  • United States

Abstract


  • Conjugated polymers are promising actuation materials for bio and micromanipulation systems, biomimetic

    robots, and biomedical devices. Sophisticated electrochemomechanical dynamics in these materials, however,

    poses significant challenges in ensuring their consistent, robust performance in applications. In this paper an

    effective adaptive control strategy is proposed for conjugated polymer actuators. A self-tuning regulator is

    designed based on a simple actuator model, which is obtained through reduction of an infinite-dimensional

    physical model and captures the essential actuation dynamics. The control scheme is made robust against

    unmodeled dynamics and measurement noises with parameter projection, which forces the parameter estimates to

    stay within physically-meaningful regions. The robust adaptive control method is applied to a trilayer polypyrrole

    actuator that demonstrates significant time-varying actuation behavior in air due to the solvent evaporation.

    Experimental results show that, during four-hour continuous operation, the proposed scheme delivers consistent

    tracking performance with the normalized tracking error decreasing from 11% to 7%, while the error increases

    from 7% to 28% and to 50% under a PID controller and a fixed model-following controller, respectively. In the

    mean time the control effort under the robust adaptive control scheme is much less than that under PID, which

    is important for prolonging the lifetime of the actuator.

UOW Authors


  •   Fang, Yang (external author)
  •   Tan, Xiaobo (external author)
  •   Alici, Gursel

Publication Date


  • 2007

Citation


  • Fang, Y., Tan, X. & Alici, G. (2007). Robust adaptive control of conjugated polymer actuators. Proc. of the SPIE 14th International Symposium on Smart Structures and Materials, and Nondestructive Evaluation and Health Monitoring (pp. 652407-1-652407-11). United States: SPIE.

Scopus Eid


  • 2-s2.0-35148830384

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=7065&context=engpapers

Ro Metadata Url


  • http://ro.uow.edu.au/engpapers/4134

Start Page


  • 652407-1

End Page


  • 652407-11

Place Of Publication


  • United States