Polymer Actuators Modeling and Control

Kothera, C. (2005). Characterization, modeling and control of the nonlinear actuation response of ionic polymer transducers (Virginia Polytechnic Institute and State University, Blacksburg, Virginia). 

Nakadoi H, Sera A, Yamakita M, Asaka K, Luo Z-W, Ito K (2007) Integrated aetuator-sensor system on patterned IPMC film consideration of electronic interference. In Proceedings of IEEE international conference on mechatronics. Kumamoto, Japan Nam D-N-C, Ahn K-K (2014) Modeling and control of a self-sensing polymer metal composite actuator. Smart Mater Struct 23 025025... 

Sensors Actuators Phys 163 240-246. doi 10.1016/j.sna.2010.06.002 Fang Y, Tan X, Alici G (2008a) Robust adaptive control of conjugated polymer actuators. IEEE Trans Control SystTechnol 16 600-612. doi 10.1109/rCST.2007.912112 Fang Y, Tan X, Shen Y et al (2008b) A scalable model for trilayer conjugated polymer actuators and its experimental validation. Mater Sci Eng C Biomim Supramol Syst 28 421-428. doi 10.1016/ j.msec.2007.04.024... 

In this chapter, we extend and apply the results on EAP materials and models to a few device and robotic applications. A robotic fish propelled by an IPMC caudal fin is first considered in Section 9.1. The use of IPMC for low-frequency energy harvesters is studied in Section 9.2. The design of an IPMC-enabled valveless pump is discussed in Section 9.3. We then present a novel micropump actuated by conjugated polymer petals, supported by both analytical and experimental results. Finally, in Section 9.5 we investigate the design, prototyping, and control of a robotic finger powered by dielectric elastomer actuators. 

Kanno, R., Tadokoro, S., Takamori, T., et al. (1995) Modeling of ICPF (ionic conducting polymer gel film) actuator - modelling of electrical characteristics. Proceedings of the IEEE International Conference on Industrial Electronics Control and Instrumentation, 913-8. 

Wang X, Alici G, Tan X (2014) Modeling and inverse feedforward control for conducting polymer actuators with hysteresis. Smart Mater Struct 23 025015. doi 10.1088/0964-1726/23/2/025015 Xiang X, Alici G, Mutlu R, Li W (2014) How the type of input function affects the dynamic response of conducting polymer actuators. Smart Mater Stmct 23 105008. doi 10.1088/0964-1726/23/10/105008... 

Yamauta M, Sato K, Iwata K (1992) Memory effect of electrical conductivity upon the coimter-anion exchange of polypyrrole films. Synth Met 48(3) 337-354 Yao Q, Alici G, Spinks GM (2008) Feedback control of tri-layer polymer actuators to improve their positioning ability and speed of response. Sens Actuators A 144(1) 176-184 Yoo DS et al (2011) Multiple time constant modelling of a printed conducting polymer electrode. Electrochim Acta 56(13) 4711-4716... 

Secondly, conjugated polymers were studied as biomimetic artificial muscles. A scalable physics based electro-chemo-mechanical model was developed to connect an input voltage to bending of the material. The reduced version of the model was used to design a robust adaptive controller. Also, a nonlinear mechanical model was investigated. Furthermore, a torsional actuator was developed by depositing PPy on a tube substrate with helically wound platinum fibers. A set of experiments were conducted to confirm the torsional and other actuation modes as well as the model. 

Chen, Z., Hedgepeth, D. R. and Tan, X. (2009). A nonlinear, control-oriented model for ionic polymer-metal composite actuators. Smart Materials and Structures 18, pp. 055008 1-9. 

---