Efficient Linear Approach for the Closed-Loop Control of a Ionic Polymer Bending Actuator
Tri-layer electroactive bending polymeric artificial muscles generally exhibit no overshoot during open-loop step response with a non-zero initial slope when the output is the vertical position of the bending sample tip. We propose to identify such a bending step contraction by a nonlinear system derived from a linear first order system in the form: where the parameters k, T and r depend on the u-control voltage. We show the relevance of this approach for identifying the step-response of a PEDOT:PSS/PVDF/ionic liquid actuator developed at the laboratory. As a consequence, we try to show that a linear PI-controller, including voltage constraints, is a simple and an efficient approach for a closed-loop control of the bending actuator.
B. Tondu et al., "Efficient Linear Approach for the Closed-Loop Control of a Ionic Polymer Bending Actuator", Advances in Science and Technology, Vol. 97, pp. 75-80, 2017