This work reports on the modelling and control of ionic electroactive polymer actuators with electrodes based on nanoporous carbon, which are working in ambient environment. The model incorporates the humidity level value as one of the input parameters, and so captures the environment-dependent dynamics of the actuator. The effect of ambient humidity on the actuators is studied through the frequency response analysis and is followed by neural network method of modelling. A closed loop set point tracking control system based on gain scheduled model predictive control is designed and developed for position control of actuator and is verified experimentally. The developed model and controller is capable to predict and control the actuators at under the humidity conditions varying in the range of 3% - 97%.
Sunjai Nakshatharan, Andres Punning, and Alvo Aabloo, "Neural network modeling and model predictive control of ionic electroactive polymer actuators," Proc. SPIE 9798, Electroactive Polymer Actuators and Devices (EAPAD) 2016, 97982J (Presented at SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring: March 24, 2016; Published: 15 April 2016); https://doi.org/10.1117/12.2218728.
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