DocumentCode :
1301391
Title :
Inversion-Based Feedforward Control of Polypyrrole Trilayer Bender Actuators
Author :
John, Stephen W. ; Alici, Gursel ; Cook, Christopher D.
Author_Institution :
Sch. of Mech., Mater. & Mechatron. Eng., Univ. of Wollongong, Wollongong, NSW, Australia
Volume :
15
Issue :
1
fYear :
2010
Firstpage :
149
Lastpage :
156
Abstract :
Conducting polymer bending actuators show potential for unique manipulation devices, particularly at the microscale, given low actuation voltages, controllable manufacture, biocompatibility, and ability to operate in either air or liquid environments; however, the impracticalities of implementing feedback in these environments and at these scales can impede positional control of the actuator. This paper presents an application of inversion-based feedforward positional control to a trilayer bender actuator, which is shown to improve the performance without the use of feedback or adjustments to the chemistry of the device. The step and dynamic displacement responses have all been improved under the feedforward control system, while the response does not change significantly under large increases in external loads. This study contributes the first implementation of inversion-based feedforward control to the emerging area of conducting polymer actuators, paving the way toward their use in functional devices, particularly where the implementation of feedback is difficult.
Keywords :
actuators; bending; conducting polymers; feedforward; position control; conducting polymer actuator; controllable manufacture; dynamic displacement response; functional device; inversion-based feedforward control; low actuation voltage; polymer bending actuator; polypyrrole trilayer bender actuator; positional control; Actuators; feedforward systems; intelligent materials; modeling;
fLanguage :
English
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
Publisher :
ieee
ISSN :
1083-4435
Type :
jour
DOI :
10.1109/TMECH.2009.2020732
Filename :
5208272
Link To Document :
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