Abstract
A precise and robust controller has been developed and implemented on a novel ionic polymer–metal composite (IPMC) actuated micro–manipulator to demonstrate its ability to enable safe and reliable manipulation of biological cells. A 2 degree–of–freedom (2DOF) control structure was employed to enable the system to be optimised for both the disturbance response (DR) and set–point (SP) tracking. The controller is adaptively tuned using a model–free iterative feedback tuning (IFT) approach which is ideal for operation in unknown cellular environments and handling the time–varying behaviour of the IPMCs themselves. IFT experiments have tuned the IPMCs to an 87% and 81% performance improvement in DR and SP respectively. Experiments then reveal that the tuned controller has equipped the manipulator with an accuracy of <7.1% of full scale, with up to 7° of motion in both axes. The controller has also demonstrated its ability to naturally cope with load disturbances up to 10 mN.
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