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Actuators 2018, 7(1), 7; https://doi.org/10.3390/act7010007

Modelling and Control of Ionic Electroactive Polymer Actuators under Varying Humidity Conditions

Intelligent Materials and Systems Laboratory, Institute of Technology, University of Tartu, 50411 Tartu, Estonia
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Received: 29 December 2017 / Revised: 12 February 2018 / Accepted: 14 February 2018 / Published: 20 February 2018
(This article belongs to the Special Issue Electrochemical and Electromechanical Actuators)
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Abstract

In this work, we address the problem of position control of ionic electroactive polymer soft actuators under varying relative humidity conditions. The impact of humidity on the actuation performance of ionic actuators is studied through frequency response and impedance spectroscopy analysis. Considering the uncertain performance of the actuator under varying humidity conditions, an adaptable model using the neural network method is developed. The model uses relative humidity magnitude as one of the model parameters, making it robust to different environmental conditions. Utilizing the model, a closed-loop controller based on the model predictive controller is developed for position control of the actuator. The developed model and controller are experimentally verified and found to be capable of predicting and controlling the actuators with excellent tracking accuracy under relative humidity conditions varying in the range of 10–90%. View Full-Text
Keywords: ionic polymer; actuator; humidity; neural network; model predictive control ionic polymer; actuator; humidity; neural network; model predictive control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Nakshatharan, S.S.; Vunder, V.; Põldsalu, I.; Johanson, U.; Punning, A.; Aabloo, A. Modelling and Control of Ionic Electroactive Polymer Actuators under Varying Humidity Conditions. Actuators 2018, 7, 7.

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