Control of ionic polymer metal composites

Richardson, Robert C.; Levesley, Martin; Brown, Michael; Hawkes, Jamie Anthony; Watterson, Kevin G.; Walker, Peter G.

doi:10.1109/tmech.2003.812835

Cited by 97 publications

(60 citation statements)

References 22 publications

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“…Richardson et al 84 proposed practical prospective of the control of IPMC where the actuator characteristics were examined through unblocked maximum displacement and force output from the blocked one. Open-loop position control responses were compared to the closed loop PID controller.…”

Section: Ipmc Control System Designsmentioning

confidence: 99%

A review on IPMC material as actuators and sensors: Fabrications, characteristics and applications

Bhandari

Lee

Ahn

2012

Int. J. Precis. Eng. Manuf.

222

135

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In this paper we present a comprehensive review of ionic polymer metal composite (IPMC) covering fundamentals of IPMC; from fabrication processes to control and applications. IPMC is becoming an increasingly popular material among scholars, engineers and scientists due to its inherent property of low activation voltage, large bending strain, i.e., transformation electrical energy to mechanical energy, and properties to be used as bidirectional material, i.e., it can be used as actuators and sensors. Among the diversity of electro active polymers (EAPs), recently developed IPMCs are good candidates for use in bio-related application because of their biocompatibility. Yet, the challenge remains in controlling a somewhat complicated material as mechanical, electrical and chemical properties interact with each other in the ionic polymer. Several IPMC fabrication processes, their mechanical characteristics and performance, a number of recent IPMC applications and pertaining mathematical modeling have been reported in this paper. Also we have attempted to present concisely the control of IPMC and effects of various factors in the performance of IPMC. The applications of IPMC have been growing, and recently more sophisticated IPMC actuator applications have been performed. This indicates that the IPMC actuators hold potential for more sophisticated control application. Extensive references are provided for more indepth explanation.

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Section: Ipmc Control System Designsmentioning

confidence: 99%

A review on IPMC material as actuators and sensors: Fabrications, characteristics and applications

Bhandari

Lee

Ahn

2012

Int. J. Precis. Eng. Manuf.

222

135

View full text Add to dashboard Cite

show abstract

“…By introducing feedback control, Mallavarapu and Leo successfully reduced overshoot and settling time of IPMC open loop response [3]. From there, traditional PID controller until most advanced model adaptive control algorithm based on nonlinear control-oriented model and quantitative feedback theory had been implemented to achieve robust control of the IPMC [4][5][6]. However, while excellent control had been achieved, there is still size limitation if intended control system setup is going to be applied in smallsize movable application.…”

Section: Introductionmentioning

confidence: 99%

Feasibility studies of Arduino microcontroller usage for IPMC actuator control

Samad

Shaari

Rosly

2014

2014 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2014)

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Abstract-This paper investigates the usage of Arduino microcontroller to control closed loop of Ionic Polymer MetalComposite (IPMC) actuator response designed for compact underwater application. We demonstrate control of single IPMC actuator by PID controller using MATLAB/Simulink Arduino Input Output (ArduinoIO) support package. Experimental results show that the microcontroller able to differentiate response speed, stability and tracking error of different thicknesses of IPMC actuator when stimulated by multiple voltage waves and frequencies. Based on step signal and square waves tracking performance results, thinner IPMC (t1) has more than 5 times respond speed than thicker IPMC (t2). However, IPMC t1 has lower steady-state stability and more sensitive to external noise compared to IPMC t2 due to IPMC actuator mechanism factors and current Arduino setup limitation such as low sampling rate. For sinusoidal waves tracking analysis, IPMC t2 with lower frequency reference input shows minimum erms error (3.12 %), while IPMC t2 with higher frequency contains highest erms error (28.70 %). Therefore, added with further improvements in improving analog read sampling rate and analog write resolution, Arduino microcontroller can accurately control and analyse the IPMC actuator, thus manage to replace expensive and bulky current DAQ hardware.

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“…To obtain the desired bending responses from IPMC beams, various control methods including proportional-integral-derivative (PID) control [10], integrator anti-windup [11], linear quadratic regulation [12], and a genetic algorithm [13], have been applied.…”

Section: Introductionmentioning

confidence: 99%

Adaptive feedforward control of ionic polymer metal composites with disturbance cancellation

Kang

Kim

et al. 2012

J Mech Sci Technol

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Ionic polymer-metal composites (IPMCs) are promising candidates in various sensing and actuation applications due to their light weight, large bending, and low actuation voltage requirements. However, IPMCs are still in the early stage of development, and their bending response can vary widely depending on various factors such as fabrication process, water content, temperature, and contact with electrodes. To control IPMCs in a predictable manner and to minimize the effects of plant uncertainty and external disturbances, a precise and robust control scheme is required. In the present work, a three-part adaptive feedforward control architecture is employed for IPMC deflection control. First, adaptive identification is performed to identify changes in the dynamic behavior over time and in the input voltage using a gradient descent method. Second, an adaptive feedforward controller is implemented to control the dynamic response of the plant, where the IPMC displacement is observed and is used to adjust the parameters of the controller. Third, noise and disturbance cancelling is performed using an additional adaptive canceller, which does not affect the system dynamics. Our results show that the adaptive identification and feedforward controller with disturbance cancellation using the gradient descent method provides accurate tracking performance under plant variation and disturbance. Especially, the fast convergence speed of the proposed technique makes it practical for online control.

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Control of ionic polymer metal composites

Cited by 97 publications

References 22 publications

A review on IPMC material as actuators and sensors: Fabrications, characteristics and applications

A review on IPMC material as actuators and sensors: Fabrications, characteristics and applications

Feasibility studies of Arduino microcontroller usage for IPMC actuator control

Adaptive feedforward control of ionic polymer metal composites with disturbance cancellation

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