IPMC robust nonlinear tracking control design based on a multi-objective particle swarm optimization-based RRCF approach

Liao, Wudai; Yan, Tongbin; Wang, Aihui; Fu, Yiwen

doi:10.1109/icamechs.2015.7287176

Cited by 3 publications

(3 citation statements)

References 14 publications

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“…In [28]- [30] the PI controller was used to track the curvature of an IPMC actuator. In both [28] and [29] the tracking PI controller supplemented the operator-based robust right coprime factorization method, intended to stabilize the nonlinear system with uncertainties and input constraints (as well as hysteresis in [28]).…”

Section: A Pid Controlmentioning

confidence: 99%

“…In both [28] and [29] the tracking PI controller supplemented the operator-based robust right coprime factorization method, intended to stabilize the nonlinear system with uncertainties and input constraints (as well as hysteresis in [28]). In [30] the robust stable control system of IPMC from [28], [29] was identified as an equivalent transfer function. Then, using the obtained transfer function, the authors applied a multi-objective particle swarm algorithm to find the optimal gains K p , K i of the PI controller.…”

Section: A Pid Controlmentioning

confidence: 99%

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Challenges and Perspectives in Control of Ionic Polymer-Metal Composite (IPMC) Actuators: A Survey

et al. 2020

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Ionic polymer-metal composites (IPMC) are electroactive polymers expected to be used as soft actuators in various practical areas like robotics, biomedicine and micro manipulation systems. Though IPMC actuators have many advantages (lightweight, noiseless operation, low operating voltage, possibility of miniaturization), some of their inherent properties (back-relaxation, hysteresis, high sensitivity to ambient conditions, aging) make their precise and reliable control a challenging task. This paper presents a survey of control methods for IPMC actuators. A systematic overview of the techniques, addressing the main challenges in IPMC control, is provided. INDEX TERMS Control methods, electroactive polymer (EAP), ionic polymer-metal composite (IPMC), smart material, soft actuator.

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Section: A Pid Controlmentioning

confidence: 99%

Section: A Pid Controlmentioning

confidence: 99%

Challenges and Perspectives in Control of Ionic Polymer-Metal Composite (IPMC) Actuators: A Survey

et al. 2020

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“…Liao et al 53 have proposed a PI robust tracking control design for an IPMC using an optimization coprime factorization approach to determine the PI controller parameter. Wang et al 54 transformed simple and sophisticated PI control systems with machine vision as a feedback sensor.…”

Section: Introductionmentioning

confidence: 99%

PI Controller for IPMC Actuators Based on Nafion®/PT Using Machine Vision for Feedback Response at Different Relative Humidities

et al. 2022

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Ionomeric Polymer-Metal Composites (IPMCs) are sandwich-like materials based in a polymeric membrane covered on both sides by metallic electrodes. Its operation mechanism consists of hydrated ions migration in response to an external electrical field generated between the electrodes, leading to a spatially nonuniform mass accumulation which causes the device to bend. Its performance as an actuator depends mainly on the environment's relative humidity and electrical stimuli. Consequently, IPMCs present variations in the electromechanical properties exhibiting nonlinearities and time-varying behaviors, limiting the major applications. For this reason, this paper investigated a PI controller performance to overcome these drawbacks and effectively control a Nafion-based IPMC-Li + exposed to different relative humidities and electrical stimulis. The PI control system uses a camera with a machine vision application as a feedback sensor. Support instrumentation was developed to control the relative humidity, apply an electrical stimulus, and measure the electromechanical response. The pattern recognition algorithm implemented in the controller is efficient, with accuracy above 95%, making the feedback sensor reliable. Therefore, the PI controller was effective, stable, and capable of controlling and characterizing IPMC devices when relative humidity was above 60% at a low-frequency displacement and avoided the undesired back-relaxation phenomenon.

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Frequency domain identification of a tapered beam embedded by piezoelectric layer

Banazadeh

Ahranjani

Zahrah

2016

2016 International Conference on Advanced Mechatronic Systems (ICAMechS)

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IPMC robust nonlinear tracking control design based on a multi-objective particle swarm optimization-based RRCF approach

Cited by 3 publications

References 14 publications

Challenges and Perspectives in Control of Ionic Polymer-Metal Composite (IPMC) Actuators: A Survey

Challenges and Perspectives in Control of Ionic Polymer-Metal Composite (IPMC) Actuators: A Survey

PI Controller for IPMC Actuators Based on Nafion®/PT Using Machine Vision for Feedback Response at Different Relative Humidities

Frequency domain identification of a tapered beam embedded by piezoelectric layer

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