Adaptive control of ionic polymer-metal composite in air and under water using a modified direct self-tuning regulator embedded with integral action

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5 Citations (Scopus)

Abstract

Due to its large deformation response to a low voltage, ionic polymer-metal composite (IPMC) is a highly attractive actuator for many applications in air or under water. However, the dynamic characteristics of IPMC are nonlinear and vary with time, especially in water actuations. In this study, a modified direct self-tuning regulator (DSTR) with integral action was designed to control the tip-displacement of the IPMC, which is a non-minimum phase system to serve in air and underwater applications. The modified DSTR consisted of a pole-placement controller embedded with integral action, a reference model, and a self-tuning mechanism. The reference model specified the dynamic characteristic of the closed-loop IPMC system, and the controller parameters were automatically adjusted by the self-tuning mechanism to minimize the tracking error from the comparison between the response and the reference model output. The integral action may circumvent low-frequency distortions such as the back-relaxation phenomenon. Also, the DSTR may easily control the non-minimum phase system of the IPMC by tuning a delay factor in the reference model. The DSTR was implemented to control an IPMC (0.2mm × 5mm × 35mm) actuated in air and under water, and the tracking performances were compared with a proportional-integral-derivative controller (PID). In contrast with the PID, the parameters of which were determined by the Ziegler-Nichols rule and produced large root-mean-squared tracking errors, the DSTR yielded good tracking performances for actuations both in air and under water from 0.01 to 1Hz. Through control of the modified DSTR, IPMC may have a wide range of applications in the future.

Original languageEnglish
Article number105016
JournalSmart Materials and Structures
Volume20
Issue number10
DOIs
Publication statusPublished - 2011 Oct 1

Fingerprint

adaptive control
regulators
Polymers
Tuning
Metals
tuning
composite materials
Water
air
Composite materials
polymers
Air
metals
water
controllers
Controllers
actuation
dynamic characteristics
Derivatives
low voltage

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Civil and Structural Engineering
  • Atomic and Molecular Physics, and Optics
  • Materials Science(all)
  • Condensed Matter Physics
  • Mechanics of Materials
  • Electrical and Electronic Engineering

Cite this

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abstract = "Due to its large deformation response to a low voltage, ionic polymer-metal composite (IPMC) is a highly attractive actuator for many applications in air or under water. However, the dynamic characteristics of IPMC are nonlinear and vary with time, especially in water actuations. In this study, a modified direct self-tuning regulator (DSTR) with integral action was designed to control the tip-displacement of the IPMC, which is a non-minimum phase system to serve in air and underwater applications. The modified DSTR consisted of a pole-placement controller embedded with integral action, a reference model, and a self-tuning mechanism. The reference model specified the dynamic characteristic of the closed-loop IPMC system, and the controller parameters were automatically adjusted by the self-tuning mechanism to minimize the tracking error from the comparison between the response and the reference model output. The integral action may circumvent low-frequency distortions such as the back-relaxation phenomenon. Also, the DSTR may easily control the non-minimum phase system of the IPMC by tuning a delay factor in the reference model. The DSTR was implemented to control an IPMC (0.2mm × 5mm × 35mm) actuated in air and under water, and the tracking performances were compared with a proportional-integral-derivative controller (PID). In contrast with the PID, the parameters of which were determined by the Ziegler-Nichols rule and produced large root-mean-squared tracking errors, the DSTR yielded good tracking performances for actuations both in air and under water from 0.01 to 1Hz. Through control of the modified DSTR, IPMC may have a wide range of applications in the future.",
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N2 - Due to its large deformation response to a low voltage, ionic polymer-metal composite (IPMC) is a highly attractive actuator for many applications in air or under water. However, the dynamic characteristics of IPMC are nonlinear and vary with time, especially in water actuations. In this study, a modified direct self-tuning regulator (DSTR) with integral action was designed to control the tip-displacement of the IPMC, which is a non-minimum phase system to serve in air and underwater applications. The modified DSTR consisted of a pole-placement controller embedded with integral action, a reference model, and a self-tuning mechanism. The reference model specified the dynamic characteristic of the closed-loop IPMC system, and the controller parameters were automatically adjusted by the self-tuning mechanism to minimize the tracking error from the comparison between the response and the reference model output. The integral action may circumvent low-frequency distortions such as the back-relaxation phenomenon. Also, the DSTR may easily control the non-minimum phase system of the IPMC by tuning a delay factor in the reference model. The DSTR was implemented to control an IPMC (0.2mm × 5mm × 35mm) actuated in air and under water, and the tracking performances were compared with a proportional-integral-derivative controller (PID). In contrast with the PID, the parameters of which were determined by the Ziegler-Nichols rule and produced large root-mean-squared tracking errors, the DSTR yielded good tracking performances for actuations both in air and under water from 0.01 to 1Hz. Through control of the modified DSTR, IPMC may have a wide range of applications in the future.

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