scholarly journals Port-Hamiltonian Modeling and IDA-PBC Control of an IPMC-Actuated Flexible Beam

Actuators ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 236
Author(s):  
Weijun Zhou ◽  
Yongxin Wu ◽  
Haiqiang Hu ◽  
Yanjun Li ◽  
Yu Wang
Keyword(s):  
Closed Loop ◽  
Control Law ◽  
Flexible Beam ◽  
Metal Composite ◽  
Interconnected System ◽  
Ionic Polymer ◽  
Infinite Dimensional ◽  
Proposed Model ◽  
Polymer Metal ◽  
And Control

In this paper, the infinite-dimensional port-Hamiltonian modelling and control problem of a flexible beam actuated using ionic polymer metal composite (IPMC) actuators is investigated. The port-Hamiltonian framework is used to propose an interconnected control model of the mechanical flexible beam and the IPMC actuator. The mechanical flexible dynamic is modelled as a Timoshenko beam, and the electric dynamics of the IPMCs are considered in the model. Furthermore, a passivity-based control-strategy is used to obtain the desired configuration of the proposed interconnected system, and the closed-loop stability is analyzed using the early lumped approach. Lastly, numerical simulations and experimental results are presented to validate the proposed model and the effectiveness of the proposed control law.

A recurrent neural network–based model for predicting bending behavior of ionic polymer–metal composite actuators

2020 ◽  
Vol 31 (17) ◽  
pp. 1973-1985
Author(s):  
Hojat Zamyad ◽  
Nadia Naghavi ◽  
Reza Godaz ◽  
Reza Monsefi
Keyword(s):  
Smart Materials ◽  
Autoregressive Models ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Practical Applications ◽  
Proposed Model ◽  
Polymer Metal ◽  
Application Potential

The high application potential of ionic polymer–metal composites has made the behavior identification of this group of smart materials an attractive area. So far, several models have been proposed to predict the bending of an ionic polymer–metal composite actuator, but these models have some weaknesses, the most important of them are the use of output data (in autoregressive models), high complexity to achieve a proper precision (in non-autoregressive models), and lack of compatibility with the behavioral nature of the material. In this article, we present a hybrid model of parallel non-autoregressive recurrent networks with internal memory cells to overcome existing weaknesses. The validation results on experimental data show that the proposed model has acceptable accuracy and flexibility. Moreover, simplicity and compatibility with the behavioral nature of the material promote using the proposed model in practical applications.

A cylindrical ionic polymer-metal composite-based robotic catheter platform: modeling, design and control

2014 ◽  
Vol 24 (1) ◽  
pp. 015007 ◽  
Author(s):  
Siul Ruiz ◽  
Benjamin Mead ◽  
Viljar Palmre ◽  
Kwang J Kim ◽  
Woosoon Yim
Keyword(s):  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
And Control

Feedback Control of a Coupled IPMC (Ionic Polymer-Metal Composite) Sensor-Actuator

2009 ◽  
Author(s):  
Andres Hunt ◽  
Zheng Chen ◽  
Xiaobo Tan ◽  
Maarja Kruusmaa
Keyword(s):  
Closed Loop ◽  
Closed Loop Control ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Loop Control ◽  
Ionic Polymer ◽  
Electroactive Material ◽  
Electroactive Materials ◽  
Sensor Actuator ◽  
Polymer Metal

An ionic polymer-metal composite (IPMC) is an electroactive material that bends when electrically stimulated and generates electric current when bent. In this paper we investigate a coupled IPMC sensor-actuator using both the sensing and actuation properties of these electroactive materials. We describe the design of a coupled IPMC sensor-actuator, the feedback controller and the experimental evaluation of the system. Experimental results show the feasibility of closed-loop control of IPMC actuator with a mechanically coupled IPMC sensor.

scholarly journals 3D-Printing and Machine Learning Control of Soft Ionic Polymer-Metal Composite Actuators

2019 ◽  
Vol 9 (1) ◽  
Author(s):  
James D. Carrico ◽  
Tucker Hermans ◽  
Kwang J. Kim ◽  
Kam K. Leang
Keyword(s):  
Machine Learning ◽  
3D Printing ◽  
Bayesian Optimization ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Printing Process ◽  
Ionic Polymer ◽  
Control Paradigm ◽  
Polymer Metal ◽  
And Control

AbstractThis paper presents a new manufacturing and control paradigm for developing soft ionic polymer-metal composite (IPMC) actuators for soft robotics applications. First, an additive manufacturing method that exploits the fused-filament (3D printing) process is described to overcome challenges with existing methods of creating custom-shaped IPMC actuators. By working with ionomeric precursor material, the 3D-printing process enables the creation of 3D monolithic IPMC devices where ultimately integrated sensors and actuators can be achieved. Second, Bayesian optimization is used as a learning-based control approach to help mitigate complex time-varying dynamic effects in 3D-printed actuators. This approach overcomes the challenges with existing methods where complex models or continuous sensor feedback are needed. The manufacturing and control paradigm is applied to create and control the behavior of example actuators, and subsequently the actuator components are combined to create an example modular reconfigurable IPMC soft crawling robot to demonstrate feasibility. Two hypotheses related to the effectiveness of the machine-learning process are tested. Results show enhancement of actuator performance through machine learning, and the proof-of-concepts can be leveraged for continued advancement of more complex IPMC devices. Emerging challenges are also highlighted.

Fractional-order modeling and control of ionic polymer-metal composite actuator

2019 ◽  
Vol 28 (8) ◽  
pp. 084008 ◽  
Author(s):  
Aleksei Tepljakov ◽  
Veiko Vunder ◽  
Eduard Petlenkov ◽  
S Sunjai Nakshatharan ◽  
Andres Punning ◽  
...  
Keyword(s):  
Fractional Order ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Modeling And Control ◽  
Ionic Polymer ◽  
Composite Actuator ◽  
Polymer Metal ◽  
And Control
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