In this paper, a model-free control framework is proposed to control the tip force of a cantilevered trilayer CPA and similar cantilevered smart actuators. The proposed control method eliminates the requirement of modeling the CPAs in controller design for each application, and it is based on the online local estimation of the actuator dynamics. Due to the fact that the controller has few parameters to tune, this control method provides a relatively easy design and implementation process for the CPAs as compared to other model-free controllers. Although it is not vital, in order to optimize the controller performance, a meta-heuristic particle swarm optimization (PSO) algorithm, which utilizes an initial baseline model that approximates the CPAs dynamics, is used. The performance of the optimized controller is investigated in simulation and experimentally. Successful results are obtained with the proposed controller in terms of control performance, robustness, and repeatability as compared with a conventional optimized PI controller.
AliciG (2009) An effective modelling approach to estimate nonlinear bending behavior of cantilever type conducting polymer actuators. Sensors and Actuators B141: 284–292.
2.
AliciGDevaudVRenaudP, et al. (2009) Conducting polymer microactuators operating in air. Journal of Micromechanics and Microengineering19(2): 025017.
3.
AliciGHuynhNN (2006) Predicting force output of trilayer polymer actuators. Sensors Actuators A: Physical132: 616–625.
4.
AliciGHuynhNN (2007) Performance quantification of conducting polymer actuators for real applications: A microgripping system. IEEE/ASME Transactions on Mechatronics12: 73–84.
5.
Bar-CohenYZhangQM (2008) Electroactive polymer actuators and sensors. MRS Bulletin33: 173–181.
6.
BeyhanSItikM (2016) Adaptive fuzzy-Chebyshev network control of a conducting polymer actuator. Journal of Intelligent Material Systems and Structures27: 1019–1029.
7.
CarpiFKornbluhRSommer-LarsenP, et al. (2011) Electroactive polymer actuators as artificial muscles: Are they ready for bioinspired applications?Bioinspiration & Biomimetics6045006.
8.
CoskunMYSancakCItikM, et al. (2017) Hybrid force and position control of a conducting tri-layer electro-active polymer actuator. Transactions of the Institute of Measurement and Control39: 288–296.
9.
DruittCMAliciG (2013) Intelligent control of electroactive polymer actuators based on fuzzy and neurofuzzy methodologies. IEEE/ASME Transactions on Mechatronics99: 1–12.
10.
DuPLinXZhangX (2010) A multilayer bending model for conducting polymer actuators. Sensors and Actuators A163: 240–246.
11.
EberhartRKennedyJ (1995a) Particle swarm optimization. In: Proceedings of the IEEE international conference on neural networks, Perth, WA, Australia, 27 November–1 December 1995, pp.1942–1948, vol. 4. IEEE.
12.
EberhartRKennedyJ (1995b) A new optimizer using particle swarm theory. In: MHS’95. Proceedings of the sixth international symposium on micro machine and human science, Nagoya, Japan, 4–6 October 1995, pp.39–43. IEEE.
13.
El DaouHSalumaeTTomingG, et al. (2012) A bio-inspired compliant robotic fish: Design and experiments. In: 2012 IEEE international conference on robotics and automation (ICRA), Saint Paul, MN, USA, 14–18 May 2012, pp.5340–5345. IEEE.
14.
FangYPenceTJTanX (2008a) Nonlinear elastic modeling of differential expansion in trilayer conjugated polymer actuators. Smart Materials and Structures17: 065020.
15.
FangYTanXShenY, et al. (2007) A scalable model for trilayer conjugated polymer actuators and its experimental validation. Materials Science and Engineering: C28: 421–428.
16.
FangYTanXAliciG (2008b) Robust adaptive control of conjugated polymer actuators. IEEE Transactions on Control Systems Technology16: 600–612.
17.
FangYTanXB (2010) A novel diaphragm micropump actuated by conjugated polymer petals: Fabrication, modeling, and experimental results. Sensors and Actuators A: Physical158: 121–131.
18.
FliessMCédricJ (2013) Model-free control. International Journal of Control86: 2228–2252.
19.
FliessMJoinC (2009) Model-free control and intelligent PID controllers: Towards a possible trivialization of nonlinear control? In: 15th IFAC symposium on system identification, IFAC Proceedings Volumes, Volume 42, Issue 10, Saint-Malo, France, 6–8 July 2009, pp.1531–1550.
20.
GaihreBAliciGSpinksGM, et al. (2011) Synthesis and performance evaluation of thin film PPy-PVDF multilayer electroactive polymer actuators. Sensors and Actuators A: Physical165(2): 321–328.
21.
ItikM (2013) Repetitive control of a trilayer conjugated polymer actuator. Sensors and Actuators A: Physical194: 149–159.
22.
ItikMSabetghadamMAliciG (2014) Force control of a tri-layer conducting polymer actuator using optimized fuzzy logic control. Smart Materials and Structures23(12): 125024.
23.
JohnSWAliciGCookCD (2008) Validation of a resonant frequency model for polypyrrole trilayer actuators. IEEE/ASME Transactions on Mechatronics13: 401–419.
24.
LeeCC (1990) Fuzzy logic in control systems: Fuzzy logic controller. I. IEEE Transactions on Systems, Man, and Cybernetics20(2): 404–418.
25.
MaddenJD (2000) Conducting polymer actuators. PhD Thesis, Massachusetts Institute of Technology, Cambridge, MA, USA.
26.
MaddenPGA (2003) Development and modeling of conducting polymer actuators and the fabrication of a conducting polymer based feedback loop. PhD Thesis, Massachusetts Institute of Technology, Cambridge, MA, USA.
27.
NguyenCHAliciGWallaceGG (2012) Modelling trilayer conjugated polymer actuators for their sensorless position control. Sensors and Actuators A: Physical185: 82–91.
28.
PsaltisDSiderisAYamamuraAA (1988) A multilayered neural network controller. IEEE Control Systems Magazine8: 17–21.
29.
SancakCYamacFItikM, et al. (2019) Model-free control of an electro-active polymer actuator. Materials Research Express6(5): 055309.
30.
ShoaTYooDSWalusK, et al. (2011) A dynamic electromechanical model for electrochemically driven conducting polymer actuators. IEEE/ASME Transactions on Mechatronics16: 42–49.
31.
SvennerstenKBerggrenMRichter-DahlforsA, et al. (2011) Mechanical stimulation of epithelial cells using polypyrrole microactuators. Lab on a Chip, 11(19): 3287–3293.
WangXAliciGNguyenCH (2013) Adaptive sliding mode control of trilayer conjugated polymer actuators. Smart Materials and Structures22: 025004.
34.
WangXShapiroBSmelaE (2009) Development of a model for charge transport in conjugated polymers. The Journal of Physical Chemistry C113: 382–401.
35.
WuYAliciGSpinksGM, et al. (2006) Fast trilayer polypyrrole bending actuators for high speed applications. Synthetic Metals156(16–17): 1017–1022.
36.
YaoQAliciGSpinksG (2008) Feedback control of tri-layer polymer actuators to improve their positioning ability and speed of response. Sensors and Actuators A: Physical144: 176–184.
37.
ZamaniMKarimi-GhartemaniMSadatiN, et al. (2009) Design of a fractional order PID controller for an AVR using particle swarm optimization. Control Engineering Practice17(12): 1380.
