IDENTIFICATION OF IONIC POLYMER METAL COMPOSITE ACTUATOR USING STATE-DEPENDENT PARAMETER METHOD

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YOUSEFI ALI; MOEINKHAH HOSSEIN; MOHEBI KALHORI DAVOD

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Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:1 Page(s): 300-306

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Title

IDENTIFICATION OF IONIC POLYMER METAL COMPOSITE ACTUATOR USING STATE-DEPENDENT PARAMETER METHOD

Author(s)

YOUSEFI ALI | MOEINKHAH HOSSEIN | MOHEBI KALHORI DAVOD | Issue Writer Certificate

Keywords

IONIC POLYMER METAL COMPOSITE (IPMC)Q1

ELECTRO-ACTIVE POLYMER (EAP)Q1

IDENTIFICATIONQ2

STATE-DEPENDENT PARAMETER (SDP)Q1

Abstract

Ionic polymer metal composite (IPMC) actuator is a group of electro-active polymers (EAPs) which bend in response to a relatively low electrical voltage because of the motion of cations in the polymer network. IPMC has a wide range of applications in robotics, biomedical devices and artificial muscles. The modeling of the IPMC actuator is a multi-physics task as it involves the electricity, chemistry, dynamics and control fields. Due to its complexity and nonlinearity, IPMC modeling is difficult in terms of mathematics and its behavior is still not fully agreed upon by researchers. This paper presents a novel discrete-time model with state-dependent parameters (SDP) for IDENTIFICATION of the nonlinear response of an IPMC actuator. A single-input single-output nonlinear IDENTIFICATION algorithm is formulated and demonstrated for an IPMC actuator that exhibits both soft and hard nonlinearities. The nonlinear characteristics of the identified system are represented with coefficients which are a function of the input and output states. Following the SDP algorithm, the model is identified from input–output data to represent the model parameters as functions of past inputs and outputs. The proposed modeling approach is validated using an existing model and shows exact representation of the non-linear behavior of the IPMC actuator.

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APA: Copy

YOUSEFI, ALI, MOEINKHAH, HOSSEIN, & MOHEBI KALHORI, DAVOD. (2016). IDENTIFICATION OF IONIC POLYMER METAL COMPOSITE ACTUATOR USING STATE-DEPENDENT PARAMETER METHOD. MODARES MECHANICAL ENGINEERING, 16(1), 300-306. SID. https://sid.ir/paper/178451/en

Vancouver: Copy

YOUSEFI ALI, MOEINKHAH HOSSEIN, MOHEBI KALHORI DAVOD. IDENTIFICATION OF IONIC POLYMER METAL COMPOSITE ACTUATOR USING STATE-DEPENDENT PARAMETER METHOD. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(1):300-306. Available from: https://sid.ir/paper/178451/en

IEEE: Copy

ALI YOUSEFI, HOSSEIN MOEINKHAH, and DAVOD MOHEBI KALHORI, “IDENTIFICATION OF IONIC POLYMER METAL COMPOSITE ACTUATOR USING STATE-DEPENDENT PARAMETER METHOD,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 1, pp. 300–306, 2016, [Online]. Available: https://sid.ir/paper/178451/en

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