Paper Info
Title
Robust control of conjugated polymer actuators considering the spatio-temporal dynamics.
Abstract
Conjugated polymers are emerging materials which have a wide range of applications including biomimetic robots and biomedical devices. These novel materials attract considerable attention owing to their interesting sensing and actuating behavior. However, complicated electro-chemo-mechanical dynamics is a drawback for their application in functional devices. Although extensive research has been conducted on static modeling of conductive polymers, the dynamic modeling is not well understood. In this paper we focus on dynamic modeling and robust control of a fast trilayer polypyrrole actuator as a distributed parameter system. The Euler-Bernoulli beam model with inclusion of Kelvin-Voigt damping and tip loading is utilized for vibration analysis of the smart actuator. Considering the spatio-temporal dynamics of the actuator, a one-point feedback controller based on quantitative feedback theory is designed that can suppress arbitrary external disturbances and consistently track desired inputs.
Year
DOI
Venue
2012
10.1177/0959651811435299
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
Keywords
Field
DocType
Fast conjugated polymer actuators,distributed parameter system,quantitative feedback theory,mechanical vibration
Conductive polymer,Quantitative feedback theory,Control theory,Control engineering,System dynamics,Distributed parameter system,Vibration,Robust control,Robot,Materials science,Actuator
Journal
Volume
Issue
ISSN
226
I6
0959-6518
Citations 
PageRank 
References 
0
0.34
0
Authors
2
Name
Order
Citations
PageRank
K. Torabi191.93
Amir-Ali Amiri Moghadam221.12