Document Type

Conference Proceeding

Publication Date

5-21-2021

Publication Title

IFAC-PapersOnLine

Publisher

Elsevier; International Federation of Automatic Control (IFAC)

Publisher Location

Amsterdam, Netherlands

Volume

54

Issue

20

First page number:

304

Last page number:

309

Abstract

Polyvinyl chloride (PVC) gel-based actuators are a new class of soft, electroactive polymer actuators with several attractive properties, including low cost, large compliance, large strain output, high-stress output, fast response, and stability against thermal influence. While PVC gel actuators are quickly gaining attention, they remain largely unexplored despite their great potential in a long list of applications compared with many other smart material actuators. In particular, little work has been reported on modeling nonlinear dynamics of PVC actuators. In this work a nonlinear, control-oriented Hammerstein model, with a polynomial nonlinearity preceding a transfer function, is proposed to capture the amplitude-dependent frequency responses of PVC gel actuators. A systematic procedure for identifying the model parameters is developed. The efficacy of the modeling approach is demonstrated with experimental voltage-displacement data collected from a PVC gel actuator prototype, where the model is able to predict the input amplitude-dependent dynamic response.

Keywords

Describing function; Electroactive polymer; Frequency response; Hammerstein model; PVC gel actuator

Disciplines

Statistical, Nonlinear, and Soft Matter Physics

File Format

pdf

File Size

1598 KB

Rights

IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/

Creative Commons License

Creative Commons Attribution-Noncommercial-No Derivative Works 4.0 License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 4.0 License.

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