A novel discrete adaptive sliding-mode-like control method for ionic polymer–metal composite manipulators

2013 ◽  
Vol 22 (9) ◽  
pp. 095027 ◽  
Author(s):  
Zhiyong Sun ◽  
Lina Hao ◽  
Wenlin Chen ◽  
Zhi Li ◽  
Liqun Liu
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Adaptive Sliding Mode ◽  
Polymer Metal

scholarly journals Symmetric Deflection of CFRP-Based Polymeric Laminate

2011 ◽  
Vol 2-3 ◽  
pp. 966-971
Author(s):  
Wen Yi Lin ◽  
Minoru Sasaki ◽  
Hirohisa Tamagawa
Keyword(s):  
Temperature Control ◽  
Environmental Temperature ◽  
Control Method ◽  
Successful Outcome ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Laminate Structure ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
Soft Actuators

Unlike well-investigated polymer-based soft actuators such as gel, Ionic Polymer-Metal Composite, conducting polymer, a CFRP-based polymeric laminate possesses quite distinguished properties. It was previously reported that a CFRP-PVC laminate exhibited two-way deflection in accordance with environmental temperature, but it was asymmetric deflection due to the asymmetric laminate structure. In this study, we successfully fabricated a new CFRP-based polymeric laminate which can exhibit symmetric deflection. Despite such a successful outcome, there was large room to improve the degree of its deflection. Improvement of temperature control method for the newly fabricated CFRP-based polymeric laminate resulted in enhancement of the degree of its deflection.

Robust super-twisting sliding mode controller with state observer for position tracking of ionic polymer–metal composite actuators

2020 ◽  
Vol 31 (9) ◽  
pp. 1193-1203 ◽  
Author(s):  
Mohammad Reza Salehi Kolahi ◽  
Hossein Moeinkhah
Keyword(s):  
Sliding Mode ◽  
State Observer ◽  
Unmodeled Dynamics ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Highly Nonlinear ◽  
Polymer Metal

To date, a novel class of smart materials, known as ionic polymer–metal composites, have been intensively studied because of their huge potential applications in robotics, microelectromechanical systems, biomedical devices, and artificial muscles. The position tracking control of the ionic polymer–metal composite actuators is one of the challenging tasks due to the highly nonlinear, uncertain, and unmodeled dynamics. These inaccurate and unmodeled dynamics cause the unwanted disturbances which reduce the control performance. Therefore, a robust feedback controller for position tracking of the ionic polymer–metal composite actuators is necessary. To address this issue, this article presents a super-twisting sliding mode controller combined with integral-chain differentiator as state observer. The main advantage of the proposed method is its potential to estimate the states of the system continuously. As a result, the controller not only eliminates the parameter uncertainties and external disturbance but also it can overcome the chattering problem. The results confirm the feasibility and efficiency of the proposed method both in simulation and experiment.

Sulfonated polystyrene-based ionic polymer–metal composite (IPMC) actuator

2011 ◽  
Vol 17 (1) ◽  
pp. 49-55 ◽  
Author(s):  
Mohammad Luqman ◽  
Jang-Woo Lee ◽  
Kwang-Kil Moon ◽  
Young-Tai Yoo
Keyword(s):  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Sulfonated Polystyrene ◽  
Ionic Polymer ◽  
Polymer Metal
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