Robust Adaptive Control of Conjugated Polymer Actuators

• Published in: IEEE transactions on control systems technology Vol. 16; no. 4; pp. 600 - 612
• Main Authors: Yang Fang, Xiaobo Tan, Alici, G.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.07.2008; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuation; Actuators; Adaptative systems; Adaptive control; Applied sciences; Artificial muscles; Biological materials; Biomedical materials; Computer science; control theory; systems; conjugated polymer actuators; Control system synthesis; Control theory. Systems; Dynamical systems; Dynamics; Error correction; Exact sciences and technology; General equipment and techniques; Instruments, apparatus, components and techniques common to several branches of physics and astronomy; Mathematical models; model reduction; Noise robustness; physical model; Physics; Pi control; Polymers; polypyrrole (PPy); Proportional integral derivative; Robotics; Robots; robust adaptive control; Robust control; Studies; Three-term control; Transducers; Artificial muscle; Tracking; Model following; Control synthesis; polypyrrole (PPy); Adaptive control; Modeling; Robotics; Posture; Time varying system; robust adaptive control; Biomimetics; Unmodeled dynamics; Dynamic measurement; Physical model; System reduction; Biomaterial; Infinite dimension; System identification; Micromanipulation; Solvent; Actuator; Biomedical engineering; Selftuning control; model reduction; Polymer; Evaporation; Experimental study; Robust control; Artificial muscles; Material engineering; conjugated polymer actuators; Robot; Signal to noise ratio

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 applica...