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10 April 2008 Application of feedforward dynamics compensation in ionic-polymer metal composite actuators
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Ionic-polymer metal composites are innovative materials that offer combined sensing and actuating ability in lightweight and flexible package. As such, they have been exploited in robotics and a wide variety of biomedical devices, for example, as fins for propelling aquatic robots and as an injector for drug delivery. One of the main challenges of IPMC-based actuators is precision control of their movements, especially at high operating speed (frequency) because of dynamic effects. As the frequency increases, the dynamics cause vibration which leads to significant tracking error. A model-based feedforward controller is applied to control the position of a custom-made Nafion-based IPMC actuator. The feedforward controller was designed to account for the linear dynamics, and the feedforward input was computed by considering the magnitude of the input signal and the tracking precision. To account for unmodeled effects not captured by the linear model, a feedback controller was integrated with the feedforward controller. The feedback controller provides robustness. Experimental results show a significant improvement in the tracking performance using feedforward control. In particular, the feedforward controller resulted in over 75% improvement in the tracking error compared to the case without dynamic compensation. Then by adding a proportional-integral feedback controller, the tracking error was less than 10% at 18 Hz scan frequency.
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Yingfeng Shan and Kam K. Leang "Application of feedforward dynamics compensation in ionic-polymer metal composite actuators", Proc. SPIE 6927, Electroactive Polymer Actuators and Devices (EAPAD) 2008, 69270F (10 April 2008);

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