Modeling and control of conducting polymer ...
Document type :
Compte-rendu et recension critique d'ouvrage
Title :
Modeling and control of conducting polymer actuator
Author(s) :
Xun, Lingxiao [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Inria Lille - Nord Europe
Zheng, Gang [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Ghenna, Sofiane [Auteur]
Matériaux et Acoustiques pour MIcro et NAno systèmes intégrés - IEMN [MAMINA - IEMN]
Kruszewski, Alexandre [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Cattan, Eric [Auteur]
Matériaux et Acoustiques pour MIcro et NAno systèmes intégrés - IEMN [MAMINA - IEMN]
Duriez, Christian [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Grondel, Sebastien [Auteur]
Matériaux et Acoustiques pour MIcro et NAno systèmes intégrés - IEMN [MAMINA - IEMN]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Inria Lille - Nord Europe
Zheng, Gang [Auteur]

Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Ghenna, Sofiane [Auteur]

Matériaux et Acoustiques pour MIcro et NAno systèmes intégrés - IEMN [MAMINA - IEMN]
Kruszewski, Alexandre [Auteur]

Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Cattan, Eric [Auteur]

Matériaux et Acoustiques pour MIcro et NAno systèmes intégrés - IEMN [MAMINA - IEMN]
Duriez, Christian [Auteur]

Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Grondel, Sebastien [Auteur]

Matériaux et Acoustiques pour MIcro et NAno systèmes intégrés - IEMN [MAMINA - IEMN]
Journal title :
IEEE/ASME Transactions on Mechatronics
Publisher :
Institute of Electrical and Electronics Engineers
Publication date :
2023-02
ISSN :
1083-4435
English keyword(s) :
Conducting polymer actuator
IEAP
parameter identification
optimal control.
IEAP
parameter identification
optimal control.
HAL domain(s) :
Sciences de l'ingénieur [physics]/Automatique / Robotique
English abstract : [en]
Conducting polymer (CP) actuator has nonlinear dynamic characteristics during its charge process. In this study, we proposed an electromechanic model and an optimal controller for a type of ionic electroactive polymer ...
Show more >Conducting polymer (CP) actuator has nonlinear dynamic characteristics during its charge process. In this study, we proposed an electromechanic model and an optimal controller for a type of ionic electroactive polymer (IEPA) actuator with submillimeter scale, which can produce large deformation under low actuation voltage. The electronic model is to describe the evolution of charge state in time domain. The mechanic model is to calculate the deformation of CP actuator under the actuation force and external force. Based on the electromechanic coupling model, a parameter identification method is proposed to estimate the nonlinear parameter of CP actuator. The experiments show that our electromechanic model successfully predicts the deformation of actuator under different input voltages with the identified parameters. In the last step, an optimal controller is designed to control the orientation of IEAP actuator, which achieves at a high control performance in our experiments. The success of the modeling and control lays the foundation work for the subsequent biomedical applications.Show less >
Show more >Conducting polymer (CP) actuator has nonlinear dynamic characteristics during its charge process. In this study, we proposed an electromechanic model and an optimal controller for a type of ionic electroactive polymer (IEPA) actuator with submillimeter scale, which can produce large deformation under low actuation voltage. The electronic model is to describe the evolution of charge state in time domain. The mechanic model is to calculate the deformation of CP actuator under the actuation force and external force. Based on the electromechanic coupling model, a parameter identification method is proposed to estimate the nonlinear parameter of CP actuator. The experiments show that our electromechanic model successfully predicts the deformation of actuator under different input voltages with the identified parameters. In the last step, an optimal controller is designed to control the orientation of IEAP actuator, which achieves at a high control performance in our experiments. The success of the modeling and control lays the foundation work for the subsequent biomedical applications.Show less >
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Anglais
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