Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System

This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a det...

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Bibliographic Details
Published inIEEE transactions on control systems technology Vol. 23; no. 2; pp. 632 - 643
Main Authors Rizzello, Gianluca, Naso, David, York, Alexander, Seelecke, Stefan
Format Journal Article
LanguageEnglish
Published IEEE 01.03.2015
Subjects
Actuators
Electro-active polymers (EAPs)
Load modeling
Mathematical model
mechatronics
PID
Polymers
precision motion control
smart materials
Springs
Stress
Electro-active polymers (EAPs)
PID
smart materials
precision motion control
mechatronics
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Summary:This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a detailed electro-mechanical nonlinear model of the system, which is subsequently used to develop (in both time and frequency domains) various model-based feedback control laws. Accurate modeling is useful to compensate the nonlinear behavior of the actuator (caused by the material characteristics and geometry) and obtain PID controllers providing precise tracking of steps or sinusoidal reference signals. The various design strategies are compared on various experimental tests.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2014.2338356