Dr. Mehmet Itik Profile

Dr. Mehmet Itik

at Karadeniz Teknik Üniv

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Proceedings Article | 8 March 2014 Paper

Force control of ionic polymer-metal composite actuators with carbon-based electrodes

V. Vunder, M. Itik, A. Punning, A. Aabloo

Proceedings Volume 9056, 90561Y (2014) https://doi.org/10.1117/12.2045001

KEYWORDS: Actuators, Electrodes, Sensors, Carbon, Composites, Polymers, Polymeric actuators, Feedback control, Electroactive polymers, Control systems

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To perform tasks such as hold an object with a constant force, the reliable control of an ionic electroactive polymer actuator is essential. The composite under research is an IPMC actuator with electrodes composed of nanoporous carbon and membrane made of ionic polymer. Compared to traditional platinum electrodes, these novel electrodes do not crack in clusters and have highly controllable properties which preserve even when the actuator is deformed. So far, there are no reports on the dynamic force response of this composite. We present the first attempts of testing the force dynamics of an IPMC with nanoporous carbon electrodes under open- and closed-loop controls. As many attempts have been focused on the sensorless force control of ionic electroactive polymers, we first investigate the uncompensated dynamics of the actuator, then use the direct inverse model to obtain the desired tracking performance. We also aim to identify the conditions, under which the actuator is suitable for sensorless control. Furthermore, we improve the tracking ability of the actuator using a feedback controller where the force sensor data is available and incorporate a feedforward controller into the feedback control system. Based on the experiments, the resulting effects on the tracking performance are observed.

Proceedings Article | 8 March 2014 Paper

Robust control of a trilayer conducting polymer actuator

M. Itik, Fatma Ulker, G. Alici

Proceedings Volume 9056, 90561U (2014) https://doi.org/10.1117/12.2044599

KEYWORDS: Actuators, Polymeric actuators, Polymers, System identification, Systems modeling, Electroactive polymers, Ferroelectric polymers, Ions, Statistical modeling, Error analysis

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Performance of the conducting polymer actuators (CPAs) are affected by material uncertainties, operating conditions and time of operation. The same size CPAs may have different actuation capabilities, which can also degrade over the course of operation. For accurate and repeatable position tracking, the uncertainties and variations in the actuator dynamics have to be carefully addressed to achieve a desirable control performance. This paper presents a systematic approach for the identification of parametric uncertainties and designing robust H_∞ control to achieve a guaranteed performance when the CPA is used for position tracking. We identify the uncertainties in actuator dynamics by performing series of experiments using two geometrically equivalent CPAs. A set of system models is obtained to determine the average actuation capability. The variations in the actuator dynamics are modeled as a parametric uncertainty. H_∞ controllers are designed and the robustness of the controllers is validated by experiments on two different but same sized CPAs. The performance of the H_∞ controller is also compared with a proportional-integralderivative (PID) controller. We demonstrate that the robust H_∞control strategy performs repeated acceptable performances on both samples.

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