The Relation of Conducting Polymer Actuator Material Properties to Performance

Madden, P.; Madden, John D. W.; Anquetil, Patrick A.; Vandesteeg, Nathan A.; Hunter, Ian W.

doi:10.1109/joe.2004.833139

Cited by 68 publications

(62 citation statements)

References 28 publications

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“…The effect of solvent evaporation can be incorporated by taking the diffusion coefficient . This leads to , and , where , and are the poles and the zero of the reduced model (24), as defined by (19), (21), and (23). Fig.…”

Section: Resultsmentioning

confidence: 99%

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Robust Adaptive Control of Conjugated Polymer Actuators

Yang

Tan

Alici

2008

IEEE Trans. Contr. Syst. Technol.

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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 (PPy) actuator that demonstrates significant time-varying actuation behavior in air due to the solvent evaporation. Experimental results show that, during 4-h 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 proportional-integral-derivative (PID) controller and a fixed model-following controller, respectively. In the meantime, 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.

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Section: Resultsmentioning

confidence: 99%

“…There has been extensive work on understanding the actuation mechanism of conjugated polymers as well as improving their actuation performance (strain output, strain rate, force output, work per cycle, lifetime, etc.) [2], [6], [7], [19]. However, control and control-oriented modeling of conjugated polymers remain largely unexplored.…”

mentioning

confidence: 99%

Robust Adaptive Control of Conjugated Polymer Actuators

Yang

Tan

Alici

2008

IEEE Trans. Contr. Syst. Technol.

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“…In particular CPs based on pyrrole, thiophene and aniline are the focus of current research. Polypyrrole (PPy) and polyaniline are two of the most commonly used CPs for actuation [7][8].…”

Section: Introductionmentioning

confidence: 99%

Parameter identification study of frequency response data for a trilayer conjugated polymer actuator displacement model

Blanchard

Smith

Nguyen

2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This article investigates the effect of three uncertain parameters on a model of conjugated polymer actuators. These uncertain parameters are the diffusion coefficient (D), the resistance (R), and the double-layer WKLFNQHVV / 7KH PRGHO VHQVLWLvity to these parameters is analyzed and a parameter estimation study is performed using artificially generated data as well as laboratory yielded experimental measurements. The parameter estimation method used in this article is based on a Bayesian cost function, and gives us an insight on how much the estimation can be trusted, which is useful information for the design of controllers. Results indicate that for stochastic controllers to be designed effectively using this model, the resistance is the best known parameter and should therefore be designed for with greater confidence in its value, while the controller should be more robust with respect to the diffusion coefficient and the doublelayer thickness. However, significant discrepancies between the model and its reduced form used for control purposes seem to indicate that a better suited model would be needed to start developing stochastic controllers. The model sensitivity to these parameters is analyzed and a parameter estimation study is performed using artificially generated data as well as laboratory yielded experimental measurements. The parameter estimation method used in this article is based on a Bayesian cost function, and gives us an insight on how much the estimation can be trusted, which is useful information for the design of controllers. Results indicate that for stochastic controllers to be designed effectively using this model, the resistance is the best known parameter and should therefore be designed for with greater confidence in its value, while the controller should be more robust with respect to the diffusion coefficient and the double-layer thickness. However, significant discrepancies between the model and its reduced form used for control purposes seem to indicate that a better suited model would be needed to start developing stochastic controllers.

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“…current research. Polypyrrole (PPy) and polyaniline are two of the most commonly used CPs for actuation [7][8].…”

Section: Introductionmentioning

confidence: 99%

Parameter identification study of a trilayer conjugated polymer actuator curvature model

Blanchard

Chen

Nguyen

2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This article investigates the effect of two uncertain parameters on a recent new model of conjugated polymer actuators. These uncertain parameters are the diffusion coefficient (D) and the double-layer capacitance (C dl), which are difficult to measure directly. The model sensitivity to these parameters is analysed and a parameter estimation study is performed using artificially generated data. The parameter estimation method used in this article is based on a Bayesian cost function, and gives us an insight on how much the estimation can be trusted, which is useful information for the design of controllers. Results indicate that for controllers to be designed effectively using this model, the double-layer capacitance is the best known parameter and should therefore be designed for with greater confidence in its value, while the controller should be much more robust with respect to the diffusion coefficient, which should be treated as a stochastic variable for a certain range of possible values. , which are difficult to measure directly. The model sensitivity to these parameters is analysed and a parameter estimation study is performed using artificially generated data. The parameter estimation method used in this article is based on a Bayesian cost function, and gives us an insight on how much the estimation can be trusted, which is useful information for the design of controllers. Results indicate that for controllers to be designed effectively using this model, the double-layer capacitance is the best known parameter and should therefore be designed for with greater confidence in its value, while the controller should be much more robust with respect to the diffusion coefficient, which should be treated as a stochastic variable for a certain range of possible values.

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The Relation of Conducting Polymer Actuator Material Properties to Performance

Cited by 68 publications

References 28 publications

Robust Adaptive Control of Conjugated Polymer Actuators

Robust Adaptive Control of Conjugated Polymer Actuators

Parameter identification study of frequency response data for a trilayer conjugated polymer actuator displacement model

Parameter identification study of a trilayer conjugated polymer actuator curvature model

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