Adaptive intelligent control of ionic polymer–metal composites

Abstract

Electroactive polymers undergo physical deformation in response to external voltagestimuli. These electrically activated polymers possess extraordinary features making themcapable of use as lightweight sensors and actuators in manifold applications. Thecharacteristics of applied voltage and environmental conditions, especially the moisturecontent surrounding the polymer, have a combined influence on the dynamical behavior ofthese polymers. In order to characterize these polymers under varying environmentalconditions, this paper discusses the experimental procedure and modeling techniques usedto derive a representative model. Validation of the model derived is provided by comparisontests of the simulated model results and those for experimental specimens. Ionicpolymer–metal composites are used for this humidity and electrodynamical study. Insightinto the numerous applications of electroactive polymers as actuators is given.The extended model allows for controller design for typical tracking problems.The control architecture presented includes a model reference adaptive schemealong with pole-placement control strategies for achieving the goal of tracking. Agenetic algorithm approach is employed to carry out the optimization for thecontrol action. The resulting tracking control of ionic polymer–metal composites,acting as actuators, is simulated. Simulations show that tracking results can beachieved with a correlation of 99% and a root mean square error of less than 30%.