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Modelling and control of self-sensing ionic electroactive polymer actuator
Author(s): Sunjai Nakshatharan S.; Andres Punning; Urmas Johanson; Alvo Aabloo
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Paper Abstract

Electroactive polymer (EAP) is a kind of smart material that exhibits a large deformation on the application of a small potential across the electrodes. On the contrary, the materials can also exhibit sensorial behavior by generating a small electrical potential on the application of mechanical force. These characteristics make these materials to be a promising candidate for applications involving actuators with self-sensing ability. In this work, we report on the development of integrated sensing and actuation of ionic polymer–metal composite. Integrated sensing is accomplished by crafting discrete sensing and actuation sections over a single device by patterning the surface of the electrodes. A control scheme and estimation technique are implemented for self-sensing feedback control that uses the electrode resistance change during deformation. The artificial neural network is used to handle the hysteresis during modelling the relation between electrode resistance change and actual tip displacement. While the need for stable control to overcome nonlinearity and inherent back relaxation behavior of the material is accomplished by using a robust sliding mode controller. The developed model and controller are experimentally verified and found to be capable of predicting and controlling the actuators with excellent tracking accuracy without the need for a separate position sensor and makes the device to perform as a self-sensing actuator.

Paper Details

Date Published: 13 March 2019
PDF: 9 pages
Proc. SPIE 10966, Electroactive Polymer Actuators and Devices (EAPAD) XXI, 109661C (13 March 2019); doi: 10.1117/12.2514202
Show Author Affiliations
Sunjai Nakshatharan S., Univ. of Tartu (Estonia)
Andres Punning, Univ. of Tartu (Estonia)
Urmas Johanson, Univ. of Tartu (Estonia)
Alvo Aabloo, Univ. of Tartu (Estonia)


Published in SPIE Proceedings Vol. 10966:
Electroactive Polymer Actuators and Devices (EAPAD) XXI
Yoseph Bar-Cohen, Editor(s)

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