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Adaptive sliding mode control of tri-layer conjugated polymer actuators

Journal Article


Abstract


  • This paper proposes an adaptive sliding mode control methodology to enhance the positioning ability of conducting polymer actuators typified by tri-layer conjugated polymer actuators. This is motivated by the search for an effective control strategy to command such actuators to a desired configuration in the presence of parametric uncertainties and unmodeled disturbances. After analyzing the stability of the adaptive sliding mode control system, experiments were conducted to demonstrate its satisfactory tracking ability, based on a series of experimental results. Implementation of the control law requires a valid model of the conducting polymer actuator and boundaries of the uncertainties and disturbances. Based on the theoretical and experimental results presented, the adaptive sliding mode control methodology is very attractive in the field of smart actuators which contain significant uncertainties and disturbances. © 2013 IOP Publishing Ltd.

UOW Authors


  •   Wang, Xiangjiang (external author)
  •   Alici, Gursel
  •   Nguyen, Chuc Huu (external author)

Publication Date


  • 2013

Citation


  • Wang, X., Alici, G. & Nguyen, C. Huu. (2013). Adaptive sliding mode control of tri-layer conjugated polymer actuators. Smart Materials and Structures, 22 (2), 025004-1-025004-8.

Scopus Eid


  • 2-s2.0-84873391455

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1047

Has Global Citation Frequency


Start Page


  • 025004-1

End Page


  • 025004-8

Volume


  • 22

Issue


  • 2

Place Of Publication


  • United Kingdom

Abstract


  • This paper proposes an adaptive sliding mode control methodology to enhance the positioning ability of conducting polymer actuators typified by tri-layer conjugated polymer actuators. This is motivated by the search for an effective control strategy to command such actuators to a desired configuration in the presence of parametric uncertainties and unmodeled disturbances. After analyzing the stability of the adaptive sliding mode control system, experiments were conducted to demonstrate its satisfactory tracking ability, based on a series of experimental results. Implementation of the control law requires a valid model of the conducting polymer actuator and boundaries of the uncertainties and disturbances. Based on the theoretical and experimental results presented, the adaptive sliding mode control methodology is very attractive in the field of smart actuators which contain significant uncertainties and disturbances. © 2013 IOP Publishing Ltd.

UOW Authors


  •   Wang, Xiangjiang (external author)
  •   Alici, Gursel
  •   Nguyen, Chuc Huu (external author)

Publication Date


  • 2013

Citation


  • Wang, X., Alici, G. & Nguyen, C. Huu. (2013). Adaptive sliding mode control of tri-layer conjugated polymer actuators. Smart Materials and Structures, 22 (2), 025004-1-025004-8.

Scopus Eid


  • 2-s2.0-84873391455

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1047

Has Global Citation Frequency


Start Page


  • 025004-1

End Page


  • 025004-8

Volume


  • 22

Issue


  • 2

Place Of Publication


  • United Kingdom