Nonlinear Tracking Control of a Conductive Supercoiled Polymer Actuator
| Autor: | Tuan Anh Luong, Ja Choon Koo, Kyeong Ho Cho, Hyungpil Moon, Min Geun Song, Hyouk Ryeol Choi |
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| Rok vydání: | 2017 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Computer science Polymers Biophysics PID controller 02 engineering and technology Feedback Computer Science::Robotics symbols.namesake 020901 industrial engineering & automation Computer Science::Systems and Control Artificial Intelligence Control theory Stability theory Noise (signal processing) Electric Conductivity Equipment Design Robotics 021001 nanoscience & nanotechnology Nonlinear system Nonlinear Dynamics Control and Systems Engineering symbols Artificial muscle 0210 nano-technology Actuator |
| Zdroj: | Soft robotics. 5(2) |
| ISSN: | 2169-5180 |
| Popis: | Artificial muscle actuators made from commercial nylon fishing lines have been recently introduced and shown as a new type of actuator with high performance. However, the actuators also exhibit significant nonlinearities, which make them difficult to control, especially in precise trajectory-tracking applications. In this article, we present a nonlinear mathematical model of a conductive supercoiled polymer (SCP) actuator driven by Joule heating for model-based feedback controls. Our efforts include modeling of the hysteresis behavior of the actuator. Based on nonlinear modeling, we design a sliding mode controller for SCP actuator-driven manipulators. The system with proposed control law is proven to be asymptotically stable using the Lyapunov theory. The control performance of the proposed method is evaluated experimentally and compared with that of a proportional-integral-derivative (PID) controller through one-degree-of-freedom SCP actuator-driven manipulators. Experimental results show that the proposed controller's performance is superior to that of a PID controller, such as the tracking errors are nearly 10 times smaller compared with those of a PID controller, and it is more robust to external disturbances such as sensor noise and actuator modeling error. |
| Databáze: | OpenAIRE |
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