Show simple item record

dc.contributor.authorHunt, A.
dc.contributor.authorChen, Zheng
dc.contributor.authorTan, X.
dc.contributor.authorKruusmaa, M.
dc.identifier.citationHunt, A.; Chen, Zheng; Tan, X.; Kruusmaa, M. 2016. An integrated electroactive polymer sensor-actuator: design, model-based control, and performance characterization. Smart Materials and Structures, vol. 25:no. 3en_US
dc.descriptionClick on the DOI link to access the article (may not be free).en_US
dc.description.abstractIonic electroactive polymers (IEAPs), particularly ionic polymer-metal composites (IPMCs) and carbon-polymer composites (CPCs), bend when a voltage is applied on their electrodes, and conversely, they generate an electrical signal when subjected to a mechanical bending. In this work we study and compare the capabilities of IPMC and CPC actuators and sensors in closed-loop control applications. We propose and realize an integrated IEAP sensor-actuator design, characterize its performance using three different materials, and compare the results. The design consists of two short IEAP actuators and one sensor mechanically coupled together in a parallel configuration, and an attached rigid extension significantly longer than the IEAPs. This allows the device to be compliant, simple to construct, lightweight, easy to miniaturize, and functionally similar to a one-degree-of-freedom rotational joint. For control design and accurate position sensing in feedback experiments, we adapt physics-based and control-oriented models of actuation and sensing dynamics, and perform experiments to identify their parameters. In performance characterization, both model-based H-infinity control and proprrtional-integral control are explored. System responses to step inputs, sinusoids, and random references are measured, and long-duration sinusoidal tracking experiments are performed. The results show that, while IEAP position sensing is stable for only a limited time-span, H-infinity control significantly improves the performance of the device.en_US
dc.description.sponsorshipAuthors thank Andres Punning and Urmas Johanson (IMS Lab, University of Tartu) for providing materials and their constructive support during this work. This work was supported by US CRDF Grant No. 16059 and Estonian Research Council Projects SF0140018s12 and IUT33-9.en_US
dc.publisherIOP Publishing Ltden_US
dc.relation.ispartofseriesSmart Materials and Structures;v.25:no.3
dc.titleAn integrated electroactive polymer sensor-actuator: design, model-based control, and performance characterizationen_US
dc.rights.holder© 2016 IOP Publishing Ltden_US

Files in this item


There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record