Control of ionic polymer-metal composites for active catheter systems via linear parameter-varying approach

Hui Hung Lin, Bo Kai Fang, Ming-Shaung Ju, Chou-Ching Lin

Research output: Contribution to journalArticle

20 Citations (Scopus)

Abstract

The ionic polymer metal composite (IPMC) is one type of electro-active material with the characteristics of low electric driving potential, large deformation, and aquatic manipulation. It is highly attractive to biomedical applications as an actuator or a sensor. The main purpose of this study is to explore closed-loop control schemes to an IPMC actuator for active catheter systems. In this article, by measuring frequency responses of a 20 mm A- 5 mm A- 200 i1/4m IPMC, an empirical model is developed and used for closed-loop control. From previous work, two resonant peaks ranged at 3-4 Hz and 18-20 Hz are found in the Bode diagram for the frequency responses of IPMC. Based on this fact, a 4th order transfer function was modeled to describe the system. A parameter-dependent transfer function was then created to describe the bending dynamics of IPMC in response to different driving voltages. As IPMC actuators are nonlinear and slow time-varying systems, the controller was designed using linear parameter varying (LPV) approach. Compared with the conventional closed-loop PID control, the maximum overshoot and steady-state error was decreased to 2% and 1.32%, respectively. The rise time was about 0.186 s, which is within the limit for many biomedical applications.

Original languageEnglish
Pages (from-to)273-282
Number of pages10
JournalJournal of Intelligent Material Systems and Structures
Volume20
Issue number3
DOIs
Publication statusPublished - 2009 Feb 1

Fingerprint

Catheters
Polymers
Metals
Composite materials
Actuators
Frequency response
Transfer functions
Bode diagrams
Time varying systems
Three term control systems
Controllers
Sensors
Electric potential

All Science Journal Classification (ASJC) codes

  • Materials Science(all)
  • Mechanical Engineering

Cite this

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abstract = "The ionic polymer metal composite (IPMC) is one type of electro-active material with the characteristics of low electric driving potential, large deformation, and aquatic manipulation. It is highly attractive to biomedical applications as an actuator or a sensor. The main purpose of this study is to explore closed-loop control schemes to an IPMC actuator for active catheter systems. In this article, by measuring frequency responses of a 20 mm A- 5 mm A- 200 i1/4m IPMC, an empirical model is developed and used for closed-loop control. From previous work, two resonant peaks ranged at 3-4 Hz and 18-20 Hz are found in the Bode diagram for the frequency responses of IPMC. Based on this fact, a 4th order transfer function was modeled to describe the system. A parameter-dependent transfer function was then created to describe the bending dynamics of IPMC in response to different driving voltages. As IPMC actuators are nonlinear and slow time-varying systems, the controller was designed using linear parameter varying (LPV) approach. Compared with the conventional closed-loop PID control, the maximum overshoot and steady-state error was decreased to 2{\%} and 1.32{\%}, respectively. The rise time was about 0.186 s, which is within the limit for many biomedical applications.",
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